A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems

Xian, Bin; Queiroz, M.S. de; Dawson, D.M.; McIntyre, Michael L.

doi:10.1016/j.automatica.2003.12.007

Cited by 157 publications

(127 citation statements)

References 20 publications

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“…The velocity measurement can be manufactured digitally using y(t) and the backwards differentiation algorithm, or a variable structure observer can be used [48].…”

Section: Assumptionmentioning

confidence: 99%

Charge feedback-based robust position tracking control for piezoelectric actuators

Salah

McIntyre

Dawson

et al. 2012

IET Control Theory Appl.

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Abstract:In this study, the Coleman-hysteresis model is utilised in the piezoelectric actuator (PZTA) dynamic model and a non-linear robust control strategy is then developed to actively control the displacement of the PZTA effective tip. The proposed control technique is designed based on the partial knowledge of the hysteresis model while the mass of the PZTA is assumed to be uncertain. The piezoelectric charge measurement is utilised in the controller design to reduce the effects of the hysteresis. Lyapunov-based stability analysis techniques are utilised to ensure that a desired displacement trajectory is accurately tracked. Representative numerical results are presented and discussed to demonstrate the tracking performance of several desired displacement trajectories with different frequencies and amplitudes. Finally, comparisons with a standard PID controller and a sliding mode controller were performed to examine the effectiveness of the proposed control design.

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“…The velocity measurement can be manufactured digitally using y(t) and the backwards differentiation algorithm, or a variable structure observer can be used [48].…”

Section: Assumptionmentioning

confidence: 99%

Charge feedback-based robust position tracking control for piezoelectric actuators

Salah

McIntyre

Dawson

et al. 2012

IET Control Theory Appl.

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“…In these systems friction has been shown to cause mechanical difficulties which are usually unwanted phenomena (Armstrong-Hélouvry et al, 1994). Under such conditions, the use of the stated observers leads to high frequency oscillations in the estimated velocity signal, this can lead to accelerated degradation of system performance, which is why the observer in (Xian et al, 2004) is used as a basis for developing two new observers in (Guerra et al, 2007b) for the specific purpose of being used in mechanical systems with friction working at low velocities. Our objective is to mitigate the high frequency oscillations and increase the reliability of velocity observers.…”

Section: Introductionmentioning

confidence: 99%

“…Discontinuous state observers for inexact nonlinear plants have been designed in (Choi et al, 1999;Xiong and Saif, 2001;Xian et al, 2004). However, little research has focused on the specific case of velocity observation for mechanical systems with friction working at low velocities.…”

Section: Introductionmentioning

confidence: 99%

“…The observers presented in (Xian et al, 2004;Guerra et al, 2007b) are numerically compared before proceeding to an experimental verification. Afterwards, one of the observers from (Guerra et al, 2007b) is used as part of a control scheme for mechanical systems which includes a PD controller and an adaptive friction compensator that depends on knowledge of velocity.…”

Section: Introductionmentioning

confidence: 99%

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Velocity Observer for Mechanical Systems

Guerra¹,

Iurian²,

Acho³

2008

New Developments in Robotics Automation and Control

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“…For smooth systems, there are several standard techniques such as Kalman filter, Luenberger observer, or high-gain approach. Such techniques have also been applied to design observers for certain classes of smooth and unconstrained Lagrangian systems with application to output feedback control, see for example, [3], [4], [16], [27]. A common element of these designs is to assume that the velocityq(·) is uniformly bounded (in time) which is primarily because F (t, q, ·) is quadratic in general.…”

Section: Introductionmentioning

confidence: 99%

Passivity-based observer design for a class of Lagrangian systems with perfect unilateral constraints

Tanwani

Brogliato

Prieur

2013

52nd IEEE Conference on Decision and Control

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Abstract-This paper addresses the problem of estimating the velocity variables, using the position measurement as output, in nonlinear Lagrangian dynamical systems with perfect unilateral constraints. The dynamics of such systems are formulated as a measure differential inclusion (MDI) at velocity level which naturally encodes the relations for prescribing the post-impact velocity. Under the assumption that the velocity of the system is uniformly bounded, an observer is designed which is also a measure differential inclusion. It is proved that there exists a unique solution to the proposed observer and that solution converges asymptotically to the actual velocity.

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A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems

Cited by 157 publications

References 20 publications

Charge feedback-based robust position tracking control for piezoelectric actuators

Charge feedback-based robust position tracking control for piezoelectric actuators

Velocity Observer for Mechanical Systems

Passivity-based observer design for a class of Lagrangian systems with perfect unilateral constraints

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