Design of sliding mode unknown input observer for uncertain Takagi-Sugeno model

Abdelkader Akhenak (1) , Mohammed Chadli (2) , José Ragot (3) , Didier Maquin (3)

1 CERI SN - IMT Nord Europe - Centre for Digital Systems
2 CREA - Centre de Robotique, d'Electrotechnique et d'Automatique
3 CRAN - Centre de Recherche en Automatique de Nancy

This paper addresses the analysis and design of a sliding mode observer on the basis of a Takagi-Sugeno (TS) model subject both to unknown inputs and uncertainties. The main contribution of the paper is the development of a robust observer with respect to the uncertainties as well as the synthesis of sufficient stability conditions of this observer. The stabilization of the observer is performed by the search of suitable Lyapunov matrices. It is shown how to determine the gains of the local observers, these gains being solutions of a set of linear matrix inequalities (LMI). The validity of the proposed methodology is illustrated by an academic example.

Keywords: Observer design; Uncertain system; Takagi-Sugeno model; Sliding mode; Unknown input

Domains: Automatic

Abdelkader Akhenak, Mohammed Chadli, José Ragot, Didier Maquin. Design of sliding mode unknown input observer for uncertain Takagi-Sugeno model. 15th Mediterranean Conference on Control and Automation, MED'07, Jun 2007, Athènes, Greece. pp.CDROM, ⟨10.1109/MED.2007.4433753⟩. ⟨hal-00146767⟩