State estimation and parameter identification via sliding-mode techniques: pendulum-cart system

State estimation and parameter identification via sliding-mode techniques: pendulum-cart system

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In this chapter, the problems of state estimation and parameter identification for the pendulum-cart system are addressed. Different high-order sliding-modes techniques are applied for such a mechanical system. The mathematical model is studied and a couple of high-order sliding-modes observers are proposed to estimate the state, in spite of disturbances; exactly and in a finite or fixed time, respectively. Then, using the exact state estimation, two parameter identification algorithms based on sliding-modes techniques are introduced to identify the unknown parameters of the system, i.e. the friction coefficients. Some experiments and comparisons are presented to illustrate the effectiveness of the presented algorithms. Finally, some concluding remarks are given at the end of the chapter.

Chapter Contents:

  • 2.1 Introduction
  • 2.2 Problem statement
  • 2.3 Preliminaries
  • 2.4 High-order sliding-mode observers
  • 2.4.1 Super-twisting observer
  • 2.4.2 Fixed-time observer
  • 2.4.3 Experimental results
  • 2.5 Parameter identification algorithms
  • 2.5.1 Homogeneous algorithm
  • 2.5.2 Finite-time algorithm
  • 2.5.3 Experimental results
  • 2.6 Conclusions
  • References

Inspec keywords: observers; parameter estimation; variable structure systems; pendulums

Other keywords: pendulum-cart system; parameter identification algorithms; state estimation; mechanical system; high-order sliding-modes observers

Subjects: Simulation, modelling and identification; Multivariable control systems

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