Design of a Globally and Exponentially Convergent State Observer and Its Application to a Mechanical System with Coulomb Friction

被引：0
|
作者：
Kim, Ho-Chan [1 ]
Chang, Dong Eui [2 ]
Song, Seong-Ho [3 ]
机构：
[1] Jeju Natl Univ, Dept Elect Engn, Jeju, South Africa
[2] Univ Waterloo, Dept Appl Math, Waterloo, ON N2L 3G1, Canada
[3] Hallym Univ, Dept Elect Engn, Chunchon, South Korea
来源：
ADVANCED RESEARCH IN MATERIAL SCIENCE AND MECHANICAL ENGINEERING, PTS 1 AND 2 | 2014年 / 446-447卷
关键词：
State Observer; Mechanical System with Nonlinearities; Coulomb Friction; Stability Analysis;
D O I：
10.4028/www.scientific.net/AMM.446-447.532
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
We show that there always exists a globally and exponentially convergent state-observer for a class of nonlinear systems with nonlinearities that need not satisfy locally Lipschitz condition. So it can be applied to a mechanical system with discontinuous nonlinearities such as Coulomb friction. We not only provide a rigorous proof of convergence of our proposed observer but also how to systematically design it. Through simulation results, the validity of the proposed observer is verified.
引用
收藏
页码：532 / +
页数：2
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