Two globally convergent adaptive speed observers for mechanical systems

J.G. Romero Roméo Ortega 1
1 Pôle Systèmes
L2S - Laboratoire des signaux et systèmes
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.
Type de document :
Article dans une revue
Automatica, Elsevier, 2015, 60, pp.7-11. 〈10.1016/j.automatica.2015.06.032 〉
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https://hal-centralesupelec.archives-ouvertes.fr/hal-01261648
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Soumis le : lundi 25 janvier 2016 - 16:27:15
Dernière modification le : jeudi 5 avril 2018 - 12:30:25

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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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