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Authors: R. Guerra 1 ; C. Iurian 2 ; L. Acho 3 ; F. Ikhouane 2 and J. Rodellar 4

Affiliations: 1 Centro de Investigación y Desarollo de Technología Digital (CITEDI-IPN), Mexico ; 2 Universitat Politècnica de Catalunya, Matemàtica Aplicada III, EUETIB, Spain ; 3 Centro de Investigación y Desarollo de Technología Digital (CITEDI-IPN); Universitat Politècnica de Catalunya, Matemàtica Aplicada III, EUETIB, Spain ; 4 Universitat Politècnica de Catalunya, Matemàtica Aplicada III, Spain

Keyword(s): Velocity observers, friction, mechanical systems.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronic Systems

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.

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 85-91. DOI: 10.5220/0001621100850091

@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},
issn={2184-2809},
}

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
IS - 2184-2809
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
PB - SciTePress

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