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

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

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.

References

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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