Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/143483
Title: Discrete-time sliding mode observer for the state estimation of a manoeuvring target
Authors: Harikumar, Kandath
Bera, Titas
Bardhan, Rajarshi
Sundaram, Suresh
Keywords: Engineering::Computer science and engineering
Issue Date: 2019
Source: 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
Project: CRP3-P2P 
Journal: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 
Abstract: 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.
URI: https://hdl.handle.net/10356/143483
ISSN: 0959-6518
DOI: 10.1177/0959651819826488
Schools: School of Computer Science and Engineering 
School of Electrical and Electronic Engineering 
Rights: © 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.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles
SCSE Journal Articles

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