Observation and identification of mechanical systems via second order sliding modes

Abstract

A second-order sliding-mode observer based on the modified super-twisting algorithm providing finite time exact observation is applied for system identification. The value of the equivalent output injection is used to identify perturbations directly. Continuous time versions of least square and forgetting factor methods are proposed to identify unknown time-invariant parameters respectively.

Acknowledgemetns

J. Davila and L. Fridman gratefully acknowledge the financial support of this work by the Mexican CONACyT (Consejo Nacional de Ciencia y Technologia), grant no. 43807-Y, the Programa de Apoyo a Proyectos de Investigacion e Innovacion Tecnologica (PAPIIT) UNAM, grant no. 107006-2 and DGSCA-DTD