An adaptive speed observer for a class of nonlinear mechanical systems: Theory and experiments

被引：11

作者：

Guadalupe Romero, Jose ^{[1
]}

Moreno, Jaime A. ^{[2
]}

Maradiaga Aguilar, Alvaro Alejandro ^{[1
]}

机构：

[1] ITAM, Dept Acad Sistemas Digitales, Rio Hondo 1, Ciudad De Mexico 01080, Mexico

[2] Univ Nacl Autonoma Mexico, Inst Ingn, Ciudad De Mexico 04510, Mexico

来源：

AUTOMATICA | 2021年 / 130卷

关键词：

Mechanical systems; Adaptive observers; Robustness; CONTROLLER;

D O I：

10.1016/j.automatica.2021.109710

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a solution to the problem of adaptive speed observer for a class of mechanical systems containing cross terms in the velocity (momenta). We focused our attention on mechanical systems with unknown constant input disturbances and Coulomb friction matrix, which generate products of unmeasurable velocities and unknown friction parameters. The adaptive speed observer proposed is based on the well-known Immersion and Invariance technique. We ensure global convergence of the speed observer, while the friction parameters estimation remain bounded. Our approach is validated through simulations and experimental results. (C) 2021 Elsevier Ltd. All rights reserved.

引用

页数：8

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