TY - CHAP
T1 - State estimation and parameter identification via sliding-mode techniques
T2 - Pendulum-cart system
AU - Gutiérrez, Diego
AU - Ríos, Héctor
N1 - Publisher Copyright:
© The Institution of Engineering and Technology 2018.
PY - 2018/1/1
Y1 - 2018/1/1
N2 - 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.
AB - 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.
KW - High-order sliding-modes observers
KW - Mechanical system
KW - Modelling and identification
KW - Multivariable control systems
KW - Observers
KW - Parameter estimation
KW - Parameter identification algorithms
KW - Pendulum-cart system
KW - Pendulums
KW - Simulation
KW - State estimation
KW - Variable structure systems
UR - http://www.scopus.com/inward/record.url?scp=85118087975&partnerID=8YFLogxK
U2 - 10.1049/PBCE111E_ch2
DO - 10.1049/PBCE111E_ch2
M3 - Capítulo
AN - SCOPUS:85118087975
SP - 43
EP - 70
BT - The Inverted Pendulum in Control Theory and Robotics
PB - Institution of Engineering and Technology
ER -