Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30184
Adaptive Sliding Mode Observer for a Class of Systems

Authors: D.Elleuch, T.Damak


In this paper, the performance of two adaptive observers applied to interconnected systems is studied. The nonlinearity of systems can be written in a fractional form. The first adaptive observer is an adaptive sliding mode observer for a Lipchitz nonlinear system and the second one is an adaptive sliding mode observer having a filtered error as a sliding surface. After comparing their performances throughout the inverted pendulum mounted on a car system, it was shown that the second one is more robust to estimate the state.

Keywords: Adaptive observer, Lipchitz system, Interconnected fractional nonlinear system, sliding mode.

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1258


[1] R. Rajamani "Adaptive observers for active automotive suspensions: theory and experiment" IEEE transaction on control systems technology. Vol 32, N┬░1 ,mars 1995
[2] F. Zhu "The design of full order and reduced-order adaptive observers for nonlinear systems" IEEE international conference on control automation, China, 30 May to june 1, 2007.
[3] Y. M. Cho , R.Rajamani "A systematic approach to adaptive synthesis for nonlinear systems" IEEE ,1995 ,pp 478-482.
[4] C.Cheng ``Design of adaptive observation schemes for lipschtiz nonlinear systems'' JSME international journal, series C, Vol 44, N┬░ 3, 2001.
[5] H.Saadaoui, De leon, M.djemai, J.P Barbo "High order sliding mode and adaptive observers for a class of switched systems with unknown parameter: A comparative study"Proceeding of the 45th IEEE conference on decision and control, san diego ,CA , USA. December 13- 15 2006.
[6] S.S.Ge , C.C.Hang, T-Zhang "A direct adaptive controller for dynamic systems with a class of nonlinear parametrizations" Automatica, vol 35,1999, pp 741-747.
[7] F.Y.Zeng , B.Dahhou "Adaptive control of nonlinear fermentation process via MRAC technique" Appl.math.modelling, vol 17 February, 1993,PP 58-69.
[8] R. Marino "Adaptive observers for single output nonlinear systems" IEEE transaction on automatic control, vol 35, N┬░9, September, 1990 v.
[9] N.M.Iyer, A. E. Forell "Design of stable adaptive nonlinear observer for an exothermic stirred Tank reactor" Computers Chem.Engng, Vol 20, N┬░9,1996, pp 1141-1147.
[10] G. Besançon "nonlinear observers and applications"Springer-verlag Berlin Heidelberg, 2007.
[11] Y-P Chen; J-L Chang "Sliding mode force control of manipulators" Proceedings of the national science council, Republic of China ,part A,physical science and engineering, vol 32, N┬░2 ,1999, pp 281-288.
[12] Paul C-P. Chao, Chien-Yu shen "Design and implementation of a sliding mode controller and high gain observer for output tracking of a three axis pickup" Sensors and actuators A 135, 2007, pp 713-730.
[13] K.Hakiki, B. Mazari, ,A. Liazid ,S. Djaber "Fault reconstruction using sliding mode observers" American journal of applied sciences, vol 3, N┬░1 ,2006, pp: 1669-1674.
[14] D.Elleuch, T.Damak "Adaptive sliding mode observer for Lipchitz nonlinear systems with varying parameters" 1 0th International conference on Sciences and Techniques of Automatic control \& computer engineering, Hammamet, Tunisia ,December 20-22,2009, pp1821-1833.
[15] K.hakiki, B.Mazariari, A.Liazid , S.Djaber "Fault reconstruction using sliding mode observer American journal of applied sciencez, vol 3,N┬░1, 2006, pp: 1669-1674.
[16] Ibrahim F. Jasim "Stable Robust Adaptive Controller and Observer Design for a Class of SISO Nonlinear Systems with Unknown Dead Zone" World Academy of Science, Engineering and Technology 59, 2009.
[17] Grouz Faten, Sbita Lassaâd "Speed Sensorless IFOC of PMSM Based On Adaptive Luenberger Observer" International Journal of Electrical and Electronics Engineering 2:1 2009.