Non-smooth Observer for Mechanical Systems Based on Sandwich Model with Backlash

Zhou, Zhaowei; Tan, Yonghong; Dong, Ruili; He, Hong

doi:10.1007/978-3-642-33509-9_61

Cited by 5 publications

(4 citation statements)

References 9 publications

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“…From eq. (19), it can be seen that the purpose of designing the robust observer is to minimize the norm of the transfer function of the residual to the general disturbances and maximize the norm of the transfer function of the residual to the fault. Therefore, the robust observer can restrain the effect of the general disturbances to the residual and amplify the effect of the fault to the residual.…”

Section:  mentioning

confidence: 99%

“…Note that the work on a state-estimation of the sandwich system with dead zone, backlash, and hysteresis, has been conducted respectively [18][19][20]. Recently, an observer to realize the more accurate fault detection of a mechanical system with inherent backlash without considering the model uncertainties and disturbances is designed in [21].…”

Section: Introductionmentioning

confidence: 99%

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Fault detection of a sandwich system with dead-zone based on robust observer

Zhou

Tan

Shi

2016

Systems & Control Letters

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Non-smooth sandwich systems with dead-zone widely exist in the real engineering applications. For accurately detecting its faults, a novel robust observer has been proposed in this paper. With the consideration of the model uncertainties, disturbances, and switching error which specially belongs to the system, the so-called general disturbance is defined. After that, the conventional dynamic robust observer design method can be applied to the system. Then, for saving the computing time and effectively reducing the effect of the disturbances to the residual, the main frequencies of the disturbances have been identified by the spectrum analysis of the residual created by the conventional observer and the zeros assignment methodology has been applied to get one feedback matrix of the robust observer. Finally, the rest of the feedback matrices of the robust observer can be obtained by solving an optimal problem with ,, / FF HH  as the minimizing object. For verifying the effectiveness of this novel robust observer, the comparison between the proposed robust non-smooth scheme and the conventional method has been made. The final results show that the proposed robust fault detection approach can detect the actuator and sensor faults of the system more accurately and timely with a lower missing and false alarm rates comparing with the conventional one.

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Section:  mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fault detection of a sandwich system with dead-zone based on robust observer

Zhou

Tan

Shi

2016

Systems & Control Letters

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“…1,2 The most important static nonlinearities are saturation and dead-zone, and the dynamic nonlinearities are hysteresis and backlash. These types of hard nonlinearities exist in a wide range of practical systems such as mechanical systems, 3 hydraulic valves, 4 mechatronic systems, 5 DC servo motors, 6 mechanical transmission systems, 7 etc. In industrial fields, many systems can be described as sandwich systems such as hydraulic actuator of aircraft elevator, 8 X-Y moving positioning stage system 9 and hydraulic actuator with a pilot valve.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Robust Tracker Design for Nonlinear Sandwich Systems Subject to Saturation Nonlinearities

Azhdari

Binazadeh

2020

Robotica

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SUMMARY This paper addresses the tracking problem for uncertain nonlinear sandwich systems that consist of two nonlinear subsystems and saturation nonlinearity, which is sandwiched between the subsystems. The considered sandwich system is also subject to a nonsymmetric input saturation constraint. Due to the nonsmooth characteristics of sandwiched saturation nonlinearity and also the input saturation function, the design procedure deals with hard challenges. To overcome these difficulties, a recursive approach is suggested that consists of two phases. For the implementation of the proposed approach, a tracking problem is solved in each phase. In the first phase, the second subsystem with sandwiched saturation nonlinearity is considered and the output tracking problem of the desired time-varying reference signal is solved using backstepping method. The outcome of the first phase is the desired reference signal that should be tracked by the first subsystem in the next phase. In the second phase, the robust control input is designed for the first subsystem by employing adaptive sliding mode technique such that, despite the nonsymmetric input saturation constraint, model uncertainty and external disturbances, the output of the first subsystem follows the desired signal that is obtained in the previous phase. The simulation results for a mechanical sandwich system are illustrated to verify the effectiveness of the proposed control method.

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“…The theoretical analysis and simulation results show the validity of the proposed controllers. There are other papers [5][6][7][8][9][10], we will no longer enumerate here.In this paper,we gave a kind of compensation control strategy of backlash nonlinearity. Simulation results demonstrate the vadility of this method.…”

Section: Introductionmentioning

confidence: 99%

A Compensation Approach of Backlash Nonlinearity in Dual-Motor Driving Servo System

Zhu

2013

AMM

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Aiming at the control problem of dual-motor driving servo system with backlash nonlinearity, we proposed the model of system linear part. We used describing function methods to analyze backlash nonlinearity characteristic. The simulation experiments of nonlinear system with backlash were carried out. The results of simulation show that system represents residual self-oscillation with step response, nonstationarity with low speed tracking and error abrupt change produced by sinusoidal tracking reversing. In the end, we used compensation control strategy to weaken the impact of backlash nonlinearity on dual-motor driving servo system. Finally the simulation illustrates the effectiveness of the proposed compensation control strategy.

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Non-smooth Observer for Mechanical Systems Based on Sandwich Model with Backlash

Cited by 5 publications

References 9 publications

Fault detection of a sandwich system with dead-zone based on robust observer

Fault detection of a sandwich system with dead-zone based on robust observer

Adaptive Robust Tracker Design for Nonlinear Sandwich Systems Subject to Saturation Nonlinearities

A Compensation Approach of Backlash Nonlinearity in Dual-Motor Driving Servo System

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