GLOBAL ASYMPTOTIC VELOCITY OBSERVATION OF NONLINEAR SYSTEMS - Application to a Frictional Industrial Emulator

R. Guerra, C. Iurian, L. Acho, F. Ikhouane, J. Rodellar

2007

Abstract

Development of velocity observers for mechanical systems with friction deserves a special emphasis, because as evidenced in numerical and experimental tests when a state-of-the-art observer is armed, friction can induce high-frequency oscillations in the estimated signal. In this short paper, two new velocity-observation algorithms are designed, based on this previously reported observer, that eliminate the high-frequency oscillations noted. Numerical and experimental performance comparisons are carried through making use of LuGre model and a mechanical PID control system that incorporates the estimated velocity into the feedback loop.

Paper Citation

in Harvard Style

Guerra R., Iurian C., Acho L., Ikhouane F. and Rodellar J. (2007). GLOBAL ASYMPTOTIC VELOCITY OBSERVATION OF NONLINEAR SYSTEMS - Application to a Frictional Industrial Emulator . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-972-8865-82-5, pages 85-91. DOI: 10.5220/0001621100850091

in Bibtex Style

@conference{icinco07,
author={R. Guerra and C. Iurian and L. Acho and F. Ikhouane and J. Rodellar},
title={GLOBAL ASYMPTOTIC VELOCITY OBSERVATION OF NONLINEAR SYSTEMS - Application to a Frictional Industrial Emulator},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2007},
pages={85-91},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001621100850091},
isbn={978-972-8865-82-5},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - GLOBAL ASYMPTOTIC VELOCITY OBSERVATION OF NONLINEAR SYSTEMS - Application to a Frictional Industrial Emulator
SN - 978-972-8865-82-5
AU - Guerra R.
AU - Iurian C.
AU - Acho L.
AU - Ikhouane F.
AU - Rodellar J.
PY - 2007
SP - 85
EP - 91
DO - 10.5220/0001621100850091