Utility of high-order sliding mode differentiators for dynamical left inversion problems

Abstract : This study highlights some crucial issues related to dynamical left inversion problem for non-linear systems, that is the recovery of the applied input function from the knowledge of the output and its derivatives. In particular, it is shown that the presence of non-smooth unknown inputs and non-involutivity of the forced fields' distribution constitutes an obstruction to conducting a left inversion. As a solution to this problem, the authors propose a novel left-invertible form that explicitly considers smooth as well as non-smooth inputs and for which they design a high-order sliding mode observer to reconstruct the states and the control inputs. Simulations results are provided to validate the performance of the proposed approach.
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Journal articles
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https://hal.archives-ouvertes.fr/hal-01419075
Contributor : Jean-Pierre Barbot <>
Submitted on : Sunday, December 18, 2016 - 3:27:40 PM
Last modification on : Tuesday, April 30, 2019 - 5:12:07 PM

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Jean-Pierre Barbot, Driss Boutat, Krishna Busawon. Utility of high-order sliding mode differentiators for dynamical left inversion problems. IET Control Theory and Applications, Institution of Engineering and Technology, 2015, 9 (4), pp.538-544. ⟨10.1049/iet-cta.2014.0124⟩. ⟨hal-01419075⟩

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