Abstract
In this paper, a decentralised observer scheme is proposed for a class of nonlinear interconnected systems based on higher order sliding mode techniques. It is not required that the nominal subsystems or the isolated nominal subsystems are linearizable. Under the assumption that the isolated nominal subsystems have uniform relative degree, local coordinate transformations are used to transform these systems to a new interconnected system which facilitates higher order sliding mode design. Observers composed of a set of decoupled dynamical systems are designed such that the observation error dynamical systems converge to zero exponentially. The designed observer is continuous and chattering can be avoided. The configuration is convenient for practical implementation as it is a decentralised scheme.
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