Abstract
The focus of much of the research in the area of control systems theory during the seventies and eighties addressed the issue of robustness - i.e., designing controllers with the ability to maintain stability and performance in the presence of discrepancies between the plant and model. One nonlinear approach to robust controller design which emerged during this period is the Variable Structure Control Systems methodology. Variable Structure Control Systems evolved from the pioneering work in Russia of Emel’yanov and Barbashin in the early 1960’s. The ideas did not appear outside the Soviet Union until the mid 1970’s when a book by Itkis [20] and a survey paper by Utkin [29] were published in English. Variable structure systems concepts have subsequently been utilized in the design of robust regulators, model-reference systems, adaptive schemes, tracking systems and state observers. The ideas have successfully been applied to problems as diverse as automatic flight control, control of electrical motors, chemical processes, helicopter stability augmentation, space systems and robotics [12, 23, 28, 30].
This is based in part on C. Edwards, S.K. Spurgeon and C.P. Tan, ‘On the Development and Application of Sliding-mode Observers’, in ‘Variable Structure Systems: Towards the 21st Century’, X.Yu and J.X. Xu, Springer-Verlag, 2002.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Alvarez, L., Horowitz, R., Yi, J., Olmos, L.: Dynamic friction model-based tyre/road friction estimation and emergency braking control. Journal of Dynamic Systems, Measurement and Control (2005)
Barbot, J.P.: Sliding-mode observers. In: Perruquetti, W., Barbot, J.P. (eds.) Slidingmodes in Automatic Control, Marcel Dekker, New York (2001)
Boyd, S.P., El Ghaoui, L., Feron, E., Balakrishnan, V.: Linear Matrix Inequalities in Systems and Control Theory. SIAM, Philadelphia (1994)
Brogan, W.L.: Modern Control Theory. Prentice Hall, Englewood Cliffs (1991)
Canudas de Wit, C., Olsson, H., Áström, K.J., Lischinsky, P.: A new model for control of systems with friction. IEEE Transactions on Automatic Control, 419–425 (1995)
Canudas de Wit, C., Tsiotras, P., Claeys, X., Yi, J., Horowitz, R.: Friction tyre/road modeling, estimation and optimal braking control. In: Johansson, R., Rantzer, A. (eds.) Nonlinear and Hybrid Systems in Automotive Control, pp. 147–210. Springer, London (2003)
Dorling, C.M., Zinober, A.S.I.: A comparative study of the sensitivity of observers. In: Proceedings of the IASTED Symposium on Applied Control and Identification–Copenhagen, pp. 6.32–6.38 (1983)
Drakunov, S., Utkin, V.I.: Sliding-mode observers: tutorial. In: Proceedings of the 34th IEEE Conference of Decision and Control, pp. 3376–3378. IEEE Computer Society Press, Los Alamitos (1995)
Edwards, C., Spurgeon, S.K.: On the development of discontinuous observers. International Journal of Control 59, 1211–1229 (1994)
Edwards, C., Spurgeon, S.K.: Robust output tracking using a sliding-mode controller/ observer scheme. International Journal of Control 64, 967–983 (1996)
Edwards, C., Spurgeon, S.K.: Sliding-mode output tracking with application to a multivariable high temperature furnace problem. International Journal of Robust and Nonlinear Control 7, 337–351 (1997)
Edwards, C., Spurgeon, S.K.: Sliding Mode Control: Theory and Applications. Taylor & Francis, Abington (1998)
Edwards, C., Spurgeon, S.K.: A sliding-mode control observer based FDI scheme for the ship benchmark. European Journal of Control 6, 341–356 (2000)
Edwards, C., Spurgeon, S.K., Patton, R.J.: Sliding-mode observers for fault detection. Automatica 36, 541–553 (2000)
Gustafsson, F.: Slip-based tyre-road friction estimation. Automatica, 1087–1099 (1997)
Hasakara, I., Özgüner, U., Utkin, V.I.: On sliding-mode observers via equivalent control approach. International Journal of Control 71, 1051–1067 (1998)
Hashimoto, H., Utkin, V.I., Xu, J.X., Suzuki, H., Harashima, F.: Vss observers for linear time varying systems. In: Proceedings of the 16th Annual Conference of the IEEE Industrial Electronic Society, pp. 34–39. IEEE Computer Society Press, Los Alamitos (1990)
Hermans, F.J.J., Zarrop, M.B.: Sliding-mode observers for robust sensor monitoring. In: Proceedings of the 13th IFAC World Congress, pp. 211–216 (1996)
Herrmann, G., Spurgeon, S.K., Edwards, C.: A robust sliding-mode output tracking control for a class of relative degree zero and non-minimum phase plants: a chemical process application. International Journal of Control 72, 1194–1209 (2001)
Itkis, U.: Control Systems of Variable Structure. Wiley, New York (1976)
Kiencke, U.: Real-time estimation of adhesion characteristic between tyre and road. In: Proceedings of the IFAC World Congress (1993)
Luenberger, D.G.: An introduction to observers. IEEE Transactions on Automatic Control 16, 596–602 (1971)
Perruquetti, W., Barbot, J.P. (eds.): SlidingModes in Automatic Control. Marcel Dekker, New York (2001)
Ray, L.R.: Nonlinear tyre force estimation and road friction identification - simulation and experiments. Automatica 33, 1819–1833 (1997)
Slotine, J.J.E., Hedrick, J.K., Misawa, E.A.: On sliding observers for nonlinear systems. Transactions of the ASME: Journal of Dynamic Systems, Measurement and Control 109, 245–252 (1987)
Sreedhar, R., Fern´andez, B., Masada, G.Y.: Robust fault detection in nonlinear systems using sliding-mode observers. In: Proceedings of the IEEE Conference on Control Applications, pp. 715–721. IEEE Computer Society Press, Los Alamitos (1993)
Steinberg, A., Corless, M.J.: Output feedback stabilisation of uncertain dynamical systems. IEEE Transactions on Automatic Control 30, 1025–1027 (1985)
Utkin, V., Guldner, J., Shi, J.: Sliding Mode Control in Electromechanical Systems. Taylor & Francis, Abington (1999)
Utkin, V.I.: Variable structure systems with sliding-modes. IEEE Transactions on Automatic Control 22, 212–222 (1977)
Utkin, V.I.: Sliding Modes in Control Optimization. Springer, Berlin (1992)
Walcott, B.L., Corless, M.J., Żak, S.H.: Comparative study of nonlinear state observation techniques. International Journal of Control 45, 2109–2132 (1987)
Walcott, B.L., Żak, S.H.: State observation of nonlinear uncertain dynamical systems. IEEE Transaction on Automatic Control 32, 166–170 (1987)
Yi, J., Alvarez, L., Claeys, X., Horowitz, R.: Emergency braking control with an observer-based dynamic tyre/road friction model and wheel angular velocity measurement. Vehicle System Dynamics 39, 81–97 (2003)
Yi, J., Alvarez, L., Horowitz, R., Canudas de Wit, C.: Adaptive emergency braking control using a dynamic tyre/road friction model. In: Proc. of 39th IEEE CDC, Sydney, Australia, pp. 456–461. IEEE Computer Society Press, Los Alamitos (2000)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2007 Springer London
About this chapter
Cite this chapter
Edwards, C., Spurgeon, S.K., Tan, C.P., Patel, N. (2007). Sliding-Mode Observers. In: Turner, M.C., Bates, D.G. (eds) Mathematical Methods for Robust and Nonlinear Control. Lecture Notes in Control and Information Sciences, vol 367. Springer, London. https://doi.org/10.1007/978-1-84800-025-4_8
Download citation
DOI: https://doi.org/10.1007/978-1-84800-025-4_8
Publisher Name: Springer, London
Print ISBN: 978-1-84800-024-7
Online ISBN: 978-1-84800-025-4
eBook Packages: EngineeringEngineering (R0)