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

页码：532 / +

页数：2

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