Discrete-time sliding mode neural observer for continuous time mechanical systems

— This paper proposes a novel discrete­time veloc­ ity observer which uses neural network and sliding mode for unknown continuous time mechanical systems. The neural observer in this paper has two stages: first a dead­zone neural observer assures that the observer error is bounded, then super­twisting second­order sliding­mode is used to guarantee the convergence of the estimation errors to a domain. This observer solves the infinite time convergence problem of neural observers with sliding mode compensation, and the chattering phenomenon of sliding mode observer.

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Juan Resendiz, Wen Yu, Leonid M. Fridman
• Keywords: CDC 2008, Control Systems, Neural Observer Assures, Neural Observers, Sliding Mode