Two globally convergent adaptive speed observers for mechanical systems

J.G. Romero Roméo Ortega 1
1 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
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.
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Submitted on : Monday, January 25, 2016 - 4:27:15 PM
Last modification on : Thursday, September 27, 2018 - 2:30:03 PM

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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⟩

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