Adaptive Sliding Mode Observer With An Adaptation Rule For The Injection Term For Disturbance Estimation Based On Robust Finite-Time Stability

An adaptive sliding mode observer with an adaptation rule for the injection term for disturbance estimation based on robust finite-time stability is presented. The convergence time of observers can be varied with the value of the initial estimation error, which is determined by the initial states of the observer and the system. To secure robust finite-time stability regardless of the initial estimation error, an adaptation rule for the injection term in the sliding mode observer has been designed. The adaptation rule has been designed so that the magnitude of the injection term is adjusted by the cost function and desired convergence time. A performance evaluation has been conducted using actual driving data obtained under a longitudinal driving situation of a vehicle. It is expected that the observer algorithm proposed in this study can be used for the design of functional safety systems that require robust finite-time convergence.