Finite-time state observation for non-linear uncertain systems via higher-order sliding modes

摘要

This article deals with the problem of finite-time state estimation for a class of non-linear systems possiblyaffected by modelling uncertainties and/or unknown inputs. The proposed method, based on the high-ordersliding mode control approach, does not require the system to be transformed to any normal form, which can bedifficult to achieve in the presence of model uncertainties. The sufficient conditions for observability are derivedin terms of certain geometric restrictions imposed on the system's vector fields. Methods for the approximate andexact reconstruction of the unknown inputs are given and simulation results are provided and commented.