スライディングモードと没入不変オブザーバの公平な比較への応答
A Response to the Reply Presented in "A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers"
振り子系の位置フィードバック速度オブザーバと適応追従制御の実験評価を拡張し、I&I適応制御と修正超ねじれオブザーバを比較した。チューニング指針はチャタリングを完全には除去できないことを示した。
著者: Luis Cervantes-Pérez, Víctor Santibáñez, Jesús Sandoval, Romeo Ortega, José Guadalupe Romero
分類: eess.SY, cs.RO
原文アブストラクト
In response to the reply presented in [Muñoz-Vázquez and Sánchez-Torres(2026)], this technical report extends the experimental evaluation of position-feedback velocity observers and adaptive tracking controllers for a pendular system with nonlinear friction reported in [Cervantes-Pérez et al.(2026)]. The immersion and invariance (I&I) adaptive control scheme proposed in [Romero et al.(2025)], whose gains are tuned according to the guidelines presented in [Ortega et al.(2025)], is compared with a control scheme employing the adaptive modi?ed super-twisting observer of [Dávila et al.(2006)], whose observer gains are selected according to the guidelines proposed in [Muñoz-Vázquez and Sánchez-Torres(2026)]. Although these "tuning guidelines" attenuate chattering in certain scenarios, the experimental results reported here show that they do not eliminate it in general.