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Hysteresis Switched observer design for general manipulation systems

Abstract : In this paper, we focus on the problem of the design observers for manipulation systems. The mechanical compliance introduced by the cooperation between the manipulators and their interactions with load is complex and nonlinear which makes the observer design very difficult, which motivate us to develop a new approach to design a multi modelsbased observer that we will call hysteresis switched observer. The proposed hysteresis switched observer is based on a piecewise linear approximation of the dynamic model. The robust design of the observers composing the hysteresis switched one and the hysteresis behavior of the switching logic ensure the asymptotic stability of the error of the observation with a smooth dynamics
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https://hal.inria.fr/hal-01056264
Contributor : Abderraouf Benali <>
Submitted on : Monday, August 18, 2014 - 1:17:07 PM
Last modification on : Thursday, June 17, 2021 - 1:42:01 PM

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  • HAL Id : hal-01056264, version 1

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Salim Chaib, Driss Boutat, Abderraouf Benali. Hysteresis Switched observer design for general manipulation systems. IEEE International Conference on Control Applications, Oct 2006, munich, Germany. ⟨hal-01056264⟩

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