Discrete-time sliding mode observer for the state estimation of a manoeuvring target
This article addresses the problem of estimating the position, velocity, and acceleration of a manoeuvring target from noisy position measurements. A discrete-time sliding mode observer is designed to handle unmeasured disturbance input and measurement noise. A first-order linear dynamics is conside...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2020
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| Online Access: | https://hdl.handle.net/10356/143483 |
| _version_ | 1826115758173716480 |
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| author | Harikumar, Kandath Bera, Titas Bardhan, Rajarshi Sundaram, Suresh |
| author2 | School of Computer Science and Engineering |
| author_facet | School of Computer Science and Engineering Harikumar, Kandath Bera, Titas Bardhan, Rajarshi Sundaram, Suresh |
| author_sort | Harikumar, Kandath |
| collection | NTU |
| description | This article addresses the problem of estimating the position, velocity, and acceleration of a manoeuvring target from noisy position measurements. A discrete-time sliding mode observer is designed to handle unmeasured disturbance input and measurement noise. A first-order linear dynamics is considered for target acceleration. The acceleration input command and the pole of the first-order acceleration dynamics are considered to be unknown parameters with known upper bounds. A finite non-zero boundary layer is employed to reduce the chattering phenomenon typically associated with sliding mode observers. Analysis of estimation error dynamics is presented for the case where the discrete-time sliding mode observer is operating outside the boundary layer and also within the boundary layer. An algorithm is developed for obtaining the observer gain vector that guarantees the stability of the error dynamics. Numerical simulations and experimental results are presented to validate the stability and performance of the proposed observer. |
| first_indexed | 2024-10-01T04:00:23Z |
| format | Journal Article |
| id | ntu-10356/143483 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:00:23Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1434832020-09-04T02:06:09Z Discrete-time sliding mode observer for the state estimation of a manoeuvring target Harikumar, Kandath Bera, Titas Bardhan, Rajarshi Sundaram, Suresh School of Computer Science and Engineering School of Electrical and Electronic Engineering Engineering::Computer science and engineering Discrete-time Sliding Mode Observer Error Dynamics This article addresses the problem of estimating the position, velocity, and acceleration of a manoeuvring target from noisy position measurements. A discrete-time sliding mode observer is designed to handle unmeasured disturbance input and measurement noise. A first-order linear dynamics is considered for target acceleration. The acceleration input command and the pole of the first-order acceleration dynamics are considered to be unknown parameters with known upper bounds. A finite non-zero boundary layer is employed to reduce the chattering phenomenon typically associated with sliding mode observers. Analysis of estimation error dynamics is presented for the case where the discrete-time sliding mode observer is operating outside the boundary layer and also within the boundary layer. An algorithm is developed for obtaining the observer gain vector that guarantees the stability of the error dynamics. Numerical simulations and experimental results are presented to validate the stability and performance of the proposed observer. Nanyang Technological University Accepted version The research work was fully funded by the ST Engineering – NTU Corporate Lab, Singapore, under the project CRP3-P2P. 2020-09-04T02:06:08Z 2020-09-04T02:06:08Z 2019 Journal Article Harikumar, K., Bera, T., Bardhan, R., & Sundaram, S. (2019). Discrete-time sliding mode observer for the state estimation of a manoeuvring target. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 233(7), 847-854. doi:10.1177/0959651819826488 0959-6518 https://hdl.handle.net/10356/143483 10.1177/0959651819826488 2-s2.0-85061786039 7 233 847 854 en CRP3-P2P Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering © 2019 IMechE. All rights reserved. This paper was published by SAGE Publishing in Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering and is made available with permission of IMechE. application/pdf |
| spellingShingle | Engineering::Computer science and engineering Discrete-time Sliding Mode Observer Error Dynamics Harikumar, Kandath Bera, Titas Bardhan, Rajarshi Sundaram, Suresh Discrete-time sliding mode observer for the state estimation of a manoeuvring target |
| title | Discrete-time sliding mode observer for the state estimation of a manoeuvring target |
| title_full | Discrete-time sliding mode observer for the state estimation of a manoeuvring target |
| title_fullStr | Discrete-time sliding mode observer for the state estimation of a manoeuvring target |
| title_full_unstemmed | Discrete-time sliding mode observer for the state estimation of a manoeuvring target |
| title_short | Discrete-time sliding mode observer for the state estimation of a manoeuvring target |
| title_sort | discrete time sliding mode observer for the state estimation of a manoeuvring target |
| topic | Engineering::Computer science and engineering Discrete-time Sliding Mode Observer Error Dynamics |
| url | https://hdl.handle.net/10356/143483 |
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