Robust Velocity and Load Observer for a General Noisy Rotating Machine

Abstract

This paper is focused on the design of a nonlinear observer for a rotatory machine with noise-affected output. It is assumed that the system is subject to bounded perturbations, and the original linear model of the machine is reformulated as a nonlinear system to include the desired signals to be estimated, namely, the velocity and load torque. The proposed observer leverages the so-called algebraic state-dependent Riccati equation to provide a robust estimation. Lyapunov analysis guarantees the convergence of the estimation error to a “κ zone”. The proposed observer’s effectiveness is assessed through convincing numerical simulations and real-time experiments.

Dip-coater revolver machine for layer processing on metallic substrates

“…Different robot prototypes and control systems exist in industrial robotics, providing practical solutions for industrial manufacturing processes. (Aguilar-Ibanez et al, 2022;García-Sánchez et al, 2020;Meda-Campaña et al, 2022;Rubio, 2016Rubio, , 2017Rubio, Cruz, et al, 2016;Rubio et al, 2019 The project builds upon the design of an articulated robotic arm as a basis for the dip-coating process. This design offers necessary features for reducing time and movement in the coating manufacturing process.…”