loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Alessandro Astilfi 1 ; Romeo Ortega 2 and Aneesh Venkatraman 3

Affiliations: 1 Imperial College London, United Kingdom ; 2 CNRS–SUPELEC, France ; 3 University of Groningen, Netherlands

Abstract: The problem of velocity estimation for mechanical systems is of great practical interest. Although many partial solutions have been reported in the literature the basic question of whether it is possible to design a globally convergent speed observer for general n degrees of freedom mechanical systems remains open. In this paper an affirmative answer to the question is given by proving the existence of a 3n+1--dimensional globally em exponentially convergent speed observer. Instrumental for the construction of the speed observer is the use of the Immersion and Invariance technique, in which the observer design problem is recast as a problem of rendering attractive and invariant a manifold defined in the extended state--space of the plant and the observer.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.227.114.218

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Astilfi, A.; Ortega, R. and Venkatraman, A. (2009). A Globally Exponentially Convergent Immersion and Invariance Speed Observer for n--Degrees of Freedom Mechanical Systems. In Proceedings of the International Workshop on Networked embedded and control system technologies: European and Russian R&D cooperation (ICINCO 2009) - Workshop NESTER; ISBN 978-989-674-004-7, SciTePress, pages 134-145. DOI: 10.5220/0002279101340145

@conference{workshop nester09,
author={Alessandro Astilfi. and Romeo Ortega. and Aneesh Venkatraman.},
title={A Globally Exponentially Convergent Immersion and Invariance Speed Observer for n--Degrees of Freedom Mechanical Systems},
booktitle={Proceedings of the International Workshop on Networked embedded and control system technologies: European and Russian R&D cooperation (ICINCO 2009) - Workshop NESTER},
year={2009},
pages={134-145},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002279101340145},
isbn={978-989-674-004-7},
}

TY - CONF

JO - Proceedings of the International Workshop on Networked embedded and control system technologies: European and Russian R&D cooperation (ICINCO 2009) - Workshop NESTER
TI - A Globally Exponentially Convergent Immersion and Invariance Speed Observer for n--Degrees of Freedom Mechanical Systems
SN - 978-989-674-004-7
AU - Astilfi, A.
AU - Ortega, R.
AU - Venkatraman, A.
PY - 2009
SP - 134
EP - 145
DO - 10.5220/0002279101340145
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic