Higher order sliding mode inspired nonlinear discrete-time observer

• Published in: Systems & control letters Vol. 155; p. 104992
• Main Authors: Wetzlinger, Maximilian, Reichhartinger, Markus, Horn, Martin
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.09.2021
• Subjects: Discrete-time observer; Fixed time convergence; Sliding mode control; Discrete-time observer; Fixed time convergence; Sliding mode control
• ISSN: 0167-6911; 1872-7956
• DOI: 10.1016/j.sysconle.2021.104992

This work proposes a design scheme for arbitrary order discrete-time sliding mode observers for input-affine nonlinear systems. The dynamics of the estimation errors are represented in a pseudo-linear form, where the coefficients of the characteristic polynomial comprise the nonlinearities of the algorithm. The design process is reduced to a state-dependent eigenvalue placement procedure. Moreover, two different discrete-time eigenvalue mappings are proposed. As basis for the eigenvalue mappings serves a modified version of the continuous-time uniform robust exact differentiator. Due on the chosen eigenvalue mapping the proposed algorithm does not suffer from discretization chattering. Global asymptotic stability of the estimation errors for observers of order 2 and 3 is proven and the method to prove stability for higher order observers is demonstrated. The performance of a 3-rd order observer is illustrated in simulation. Simulation studies indicate that proposed discrete-time observer might possess an upper bound of its convergence time independent of the initial conditions.