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CATEGORIES:CUED Control Group Seminars
SUMMARY:Sliding Modes for Estimation: theory and practice 
 - Sarah Spurgeon\, University College London
DTSTART;TZID=Europe/London:20191205T140000
DTEND;TZID=Europe/London:20191205T150000
UID:TALK129724AThttp://talks.cam.ac.uk
URL:http://talks.cam.ac.uk/talk/index/129724
DESCRIPTION:Since the topic of sliding mode control was introd
 uced to the international control community follow
 ing early pioneering work in the former Soviet Uni
 on in the 1960’s\, the methodology has stimulated 
 the development of theoretical work that has impac
 ted on both theory and practice. Fundamental to th
 e approach is its total invariance to an important
  class of parameter variations and uncertainty. A 
 further advantage is that the dynamic behaviour of
  the system may be directly tailored by the choice
  of a so-called switching function - essentially t
 his switching function can be thought of as a meas
 ure of the desired performance.\nThis presentation
  will first review the basic properties and termin
 ology of classical\, sometimes called first order 
 sliding mode control. \nThe robustness of the slid
 ing mode control methodology is due to the so call
 ed principle of the equivalent injection\, whereby
  the average value of the applied control signal r
 econstructs the uncertainty. This property facilit
 ates the development of sliding mode observers whi
 ch force the error between the measured plant outp
 ut and the output of the observer to be identicall
 y zero. The observer produces a set of state estim
 ates that are precisely commensurate with the actu
 al output of the plant and the corresponding equiv
 alent injection signal contains useful information
  about the mismatch between the model used to defi
 ne the observer and the actual plant. The lecture 
 will introduce the sliding mode observer paradigm 
 and results will be presented showing how the idea
 s can be used to develop Anti-Lock Braking Systems
  (ABSs) for next generation electric vehicles. Her
 e the disruptive effect of the introduction of ele
 ctric vehicles has stimulated industry to complete
 ly revisit established designs and supply chains.\
 nThe so called higher-order sliding mode control p
 aradigm will then be introduced. This method was m
 otivated by a desire to ensure finite-time converg
 ence in the presence of uncertainty via a smooth c
 ontrol. This is achieved by ensuring the discontin
 uous control action acts directly on higher order 
 derivatives of the switching function. The concept
  of higher order sliding mode control has stimulat
 ed strong theoretical results in the area of robus
 t\, exact differentiation of signals. The presenta
 tion will conclude by introducing a sliding mode d
 ifferentiator toolbox which has been developed in 
 collaboration with colleagues from TU Graz. \n
LOCATION: Cambridge University Engineering Department\, LR 
 12
CONTACT:Alberto Padoan
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