A Globally Exponentially Stable Speed Observer for a Class of Mechanical Systems: Experimental and Simulation Comparison with High-Gain and Sliding Mode Designs

Stanislav Aranovskiy 1 R. Ortega 1 J. G. Romero 2 Dmitry Sokolov 3
3 ALICE - Geometry and Lighting
Inria Nancy - Grand Est, LORIA - ALGO - Department of Algorithms, Computation, Image and Geometry
Abstract : It is shown in the paper that the problem of speed observation for mechanical systems that are partially linearisable via coordinate changes admits a very simple and robust (exponentially stable) solution with a Luenberger-like observer. This result should be contrasted with the very complicated observers based on immersion and invariance reported in the literature. A second contribution of the paper is to compare , via realistic simulations and highly detailed experiments, the performance of the proposed observer with well-known high-gain and sliding mode observers. In particular, to show that—due to their high sensitivity to noise, that is unavoidable in mechanical systems applications—the performance of the two latter designs is well below par.
Type de document :
Article dans une revue
International Journal of Control, Taylor & Francis, 2017, pp.1 - 14. 〈10.1080/00207179.2017.1404130〉
Liste complète des métadonnées

Littérature citée [28 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01658753
Contributeur : Sokolov Dmitry <>
Soumis le : jeudi 7 décembre 2017 - 17:59:47
Dernière modification le : jeudi 5 avril 2018 - 12:30:25

Fichier

MechSysObs_IJC_R1v4.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

Stanislav Aranovskiy, R. Ortega, J. G. Romero, Dmitry Sokolov. A Globally Exponentially Stable Speed Observer for a Class of Mechanical Systems: Experimental and Simulation Comparison with High-Gain and Sliding Mode Designs. International Journal of Control, Taylor & Francis, 2017, pp.1 - 14. 〈10.1080/00207179.2017.1404130〉. 〈hal-01658753〉

Partager

Métriques

Consultations de la notice

90

Téléchargements de fichiers

69