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; R. Ortega; J. G. Romero; Dmitry Sokolov

doi:10.1080/00207179.2017.1404130

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

1 CentraleSupélec

2 ITAM - Instituto Tecnológico Autónomo de México

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.

Keywords : high-gain and sliding mode observers mechanical systems Nonlinear systems observer theory

Type de document :

Article dans une revue

International Journal of Control, Taylor & Francis, 2017, pp.1 - 14. 〈10.1080/00207179.2017.1404130〉

Domaine :

Informatique [cs] / Automatique

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https://hal.inria.fr/hal-01658753
Contributeur : Sokolov Dmitry <>
Soumis le : jeudi 7 décembre 2017 - 17:59:47
Dernière modification le : mardi 18 décembre 2018 - 16:18:26

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

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

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