HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Journal articles

Two globally convergent adaptive speed observers for mechanical systems

Abstract : A globally exponentially stable speed observer for mechanical systems was recently reported in the literature, under the assumptions of known (or no) Coulomb friction and no disturbances. In this note we propose and adaptive version of this observer, which is robust vis–à–vis constant disturbances. Moreover, we propose a new globally convergent speed observer that, besides rejecting the disturbances, estimates some unknown friction coefficients for a class of mechanical systems that contains several practical examples.
Complete list of metadata

Contributor : Myriam Baverel Connect in order to contact the contributor
Submitted on : Monday, January 25, 2016 - 4:27:15 PM
Last modification on : Friday, April 30, 2021 - 9:55:05 AM

Links full text



J.G. Romero, Roméo Ortega. Two globally convergent adaptive speed observers for mechanical systems. Automatica, Elsevier, 2015, 60, pp.7-11. ⟨10.1016/j.automatica.2015.06.032⟩. ⟨hal-01261648⟩



Record views