On-line parameter estimation in sliding-mode control of Pioneer 3-DX wheeled mobile robot
ISTASC'07 Proceedings of the 7th Conference on 7th WSEAS International Conference on Systems Theory and Scientific Computation - Volume 7
A new reduced-order sliding mode observer design method: a triple transformations approach
ICS'05 Proceedings of the 9th WSEAS International Conference on Systems
Sliding mode observers: a survey
International Journal of Systems Science
Stability analysis of a sliding-mode speed observer during transient state
IMCAS'06 Proceedings of the 5th WSEAS international conference on Instrumentation, measurement, circuits and systems
Comparison of worst case errors in linear and neural network approximation
IEEE Transactions on Information Theory
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The conventional sliding mode controller needs the exact knowledge of system state measurements. In this study, nonlinear second order systems with unmeasured system states and bounded external disturbances are considered. The sliding mode observer based on nonlinear observation error dynamics is considered and the observer gain is adjusted by using a support vector machine based plant model. From the output of the support vector machine model, k-step ahead predictions are obtained. Therefore, the value of k is first analyzed to search for a proper value. It is also shown with the simulations that the stability conditions are satisfied for the chosen observer gains. Computer simulations are presented to show the effect of the proposed gain adjustment mechanism on the performance of output feedback sliding mode controller. It is seen that the trajectory tracking performance is improved with respect to a conventional output feedback sliding mode control scheme having constant sliding mode observer gains.