Function Analysis of a Second Order Sliding Mode Observer for Mechanical Systems

M. Mohamed, B. Safya, and K. Nahla (Tunisia)


Nonlinear observers, sliding mode, and mechanical systems


In this paper, a second order sliding mode observer for mechanical systems is proposed. The estimation of all state variables is derived from only angular position measurements which minimize the sensors number. The convergence of the observer is analyzed using the Lyapunov theory. Thus, the originality of this work is deduced by defining novel simple gain matrices based on some physical properties of mechanical systems. Simulations results show the utility and robustness of the proposed method for mechanical systems.

Important Links:

Go Back