Finite and Fixed-Time State Estimation: Pendulum-Cart System

被引：2
|
作者：
Gutierrez, D. [1 ]
Rios, H. [2 ]
Rosales, J. A. [3 ]
Galvan-Guerra, R. [4 ]
机构：
[1] Univ Nacl Autonoma Mexico, Fac Ingn, Dept Control & Robot, Div Ingn Elect, Mexico City 04510, DF, Mexico
[2] CONACYT TECNM, Inst Technol La Laguna, Div Estudios Posgrad & Invest, Blvd Revoluc & Cuauhtemoc S-N, Torreon 27000, Coahuila, Mexico
[3] Tecnol Monterrey CCM, Mexico City, DF, Mexico
[4] Inst Politecn Nacl, Unidad Prof Interdisciplinaria Ingn Campus Hidalg, Carretera Actopan Pachuca Km 1 500, Pachuca, Hidalgo, Mexico
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
关键词：
Pendulum-Cart system; Nonlinear observers; State estimation; OBSERVERS;
D O I：
10.1016/j.ifacol.2017.08.550
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper the problem of state estimation for the Pendulum-Cart System is addressed. Different high-order sliding-modes techniques are applied for such a mechanical system. The mathematical model is studied and a couple of high-order sliding-modes observers are proposed to estimate the state, in spite of disturbances; exactly and in a finite or fixed-time, respectively. Some experiments and comparisons are presented to illustrate the effectiveness of the presented algorithms. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：7139 / 7144
页数：6
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