ID:
publications-2371
Type:
Peer reviewed articles
Year:
2023
Authors:
Alexander Winkler, Gernot Grabmair, Johann Reger
Title:
On implementing the implicit discrete-time super-twisting observer on mechanical systems
Venue/Journal:
International Journal of Robust and Nonlinear Control
DOI:
10.1002/rnc.6764
Research type:
AI & Machine Learning
Water System:
Uncategorized
Technical Focus:
Abstract:
AbstractIn this paper, an extension of an algorithm for the implicit discretization of a superâtwisting sliding mode observer is presented. Implicit and explicit discretization algorithms for homogeneous differentiators, where no physical model information is considered, are investigated in literature. This article studies the behavior when considering models of a rather general class of nonlinear systems. The discrete equations of the superâtwisting observer are reformulated as generalized equation and an algorithm for the stepâbyâstep solution is given. The uniqueness of the derived algorithm is investigated with an equivalent variational inequality formulation which is derived for a class of nonlinear systems. Furthermore, a semiâimplicit predictorâcorrector discretization is presented which is an approximation method for the presented algorithms and allows an explicit implementation in practical applications. Accuracy properties under noise and sampling are given. The algorithm is applied on two mechanical example systems taken from practice.
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