This paper concentrates on the estimation of system states and the reconstruction of disturbances in aclass of nonlinear systems considering stateless situation. The disturbances are coupled with time-varying parameters. The sliding mode observer approach is utilized to solve these two issues. Firstly, a descriptor model ispresented by transforming the coupled disturbances into the decoupled form. Secondly, the sliding mode observeris designed to estimate the decoupled disturbances and system states of nonlinear systems. The coupled disturbancecan be reconstructed hereafter. The detailed methods of designing the observer, together with the sufficientcondition to guarantee the existence of the observer are also given. Finally, a simulation and a robot manipulatorexperiment are provided to examine the validity of the proposed design approach.
This paper concentrates on the estimation of system states and the reconstruction of disturbances in aclass of nonlinear systems considering stateless situation. The disturbances are coupled with time-varying parameters. The sliding mode observer approach is utilized to solve these two issues. Firstly, a descriptor model ispresented by transforming the coupled disturbances into the decoupled form. Secondly, the sliding mode observeris designed to estimate the decoupled disturbances and system states of nonlinear systems. The coupled disturbancecan be reconstructed hereafter. The detailed methods of designing the observer, together with the sufficientcondition to guarantee the existence of the observer are also given. Finally, a simulation and a robot manipulatorexperiment are provided to examine the validity of the proposed design approach.