Global Sliding Mode Observers for Some Uncertain Mechanical Systems

被引：17

作者：

Apaza-Perez, W. Alejandro ^{[1
]}

Moreno, Jaime A. ^{[2
]}

Fridman, Leonid ^{[3
]}

机构：

[1] Univ Bordeaux, Lab Integrat Mat Syst IMS, Control Grp, Talence, France

[2] Univ Nacl Autonoma Mexico, Inst Ingn, Mexico City 04510, DF, Mexico

[3] Univ Nacl Autonoma Mexico, Engn Fac, Dept Control, Div Elect Engn, Mexico City 04510, DF, Mexico

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2020年 / 65卷 / 03期

关键词：

Observers; Mechanical systems; Friction; Uncertainty; Convergence; Perturbation methods; Position measurement; Dissipative observers; nonlinear observers; sliding-mode observers; velocity observers; STATE ESTIMATION; DIFFERENTIATION; DESIGN;

D O I：

10.1109/TAC.2019.2931462

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a global sliding mode observer for a class of nonlinear mechanical systems with two degrees of freedom. For the observer design, besides the usual Coriolis and centrifugal forces, we consider (discontinuous) dry and viscous friction and non vanishing uncertainties/perturbations. Moreover, the system is not required to be bounded-input-bounded-state, rendering the observer design problem challenging. For this class of systems, a dissipativity-based sliding-mode observer, with theoretically exact global finite-time convergence to the actual velocities, is proposed. To illustrate the effectiveness of the proposed observer, experimental results on a cart-pendulum system are presented.

引用

页码：1348 / 1355

页数：8

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