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SUMMARY:Sliding Modes for Estimation: theory and practice - Sarah Spurgeon
 \, University College London
DTSTART:20191205T140000Z
DTEND:20191205T150000Z
UID:TALK129724@talks.cam.ac.uk
CONTACT:Alberto Padoan
DESCRIPTION:Since the topic of sliding mode control was introduced to the 
 international control community following early pioneering work in the for
 mer Soviet Union in the 1960’s\, the methodology has stimulated the deve
 lopment of theoretical work that has impacted on both theory and practice.
  Fundamental to the 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 this switching function can b
 e thought of as a measure of the desired performance.\nThis presentation w
 ill first review the basic properties and terminology of classical\, somet
 imes called first order sliding mode control. \nThe robustness of the slid
 ing mode control methodology is due to the so called principle of the equi
 valent injection\, whereby the average value of the applied control signal
  reconstructs the uncertainty. This property facilitates the development o
 f sliding mode observers which force the error between the measured plant 
 output and the output of the observer to be identically zero. The observer
  produces a set of state estimates that are precisely commensurate with th
 e actual output of the plant and the corresponding equivalent injection si
 gnal contains useful information about the mismatch between the model used
  to define the observer and the actual plant. The lecture will introduce t
 he sliding mode observer paradigm and results will be presented showing ho
 w the ideas can be used to develop Anti-Lock Braking Systems (ABSs) for ne
 xt generation electric vehicles. Here the disruptive effect of the introdu
 ction of electric vehicles has stimulated industry to completely revisit e
 stablished designs and supply chains.\nThe so called higher-order sliding 
 mode control paradigm will then be introduced. This method was motivated b
 y a desire to ensure finite-time convergence in the presence of uncertaint
 y via a smooth control. This is achieved by ensuring the discontinuous con
 trol action acts directly on higher order derivatives of the switching fun
 ction. The concept of higher order sliding mode control has stimulated str
 ong theoretical results in the area of robust\, exact differentiation of s
 ignals. The presentation will conclude by introducing a sliding mode diffe
 rentiator toolbox which has been developed in collaboration with colleague
 s from TU Graz. \n
LOCATION: Cambridge University Engineering Department\, LR 12
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