On Sliding Observers for Nonlinear Systems

@article{Slotine1986OnSO,
  title={On Sliding Observers for Nonlinear Systems},
  author={J. J. E. Slotine and J. Karl Hedrick and Eduardo A. Misawa},
  journal={1986 American Control Conference},
  year={1986},
  pages={1794-1800}
}
Sliding controllers have recently been shown to feature excellent robustness and performance properties for specific classes of nonlinear tracking problems. This paper examines the potential use of sliding surfaces for observer design. A particular observer structure including switching terms is shown to have promising properties in the presence of modelling errors and sensor noise. 
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References

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Nonlinear Observers with Linearizable Error Dynamics

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Sliding Controller Design for Nonlinear Systems

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Design for Multi

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Tracking Control of Nonlinear Systems Using Sliding Surfaces , with Application to Robot Manipulators

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Nonlinear Controllability and Obser vability

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