Physics Commons^™

Finite-Time State Estimation For An Inverted Pendulum Under Input-Multiplicative Uncertainty, Sergey V. Drakunov, William Mackunis, Anu Kossery Jayaprakash, Krishna Bhavithavya Kidambi, Mahmut Reyhanoglu

Publications

A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A salient feature of the proposed sliding mode observer design is that a rigorous analysis is provided, which proves finite-time estimation of the complete system state in the presence of input-multiplicative parametric uncertainty. The performance of the proposed observer design is demonstrated through numerical case studies using both sliding mode control (SMC)- and linear quadratic regulator (LQR)-based closed-loop control systems. The main contribution presented here is the rigorous …