A Globally Exponentially Stable Speed Observer for a Class of Mechanical Systems: Experimental and Simulation Comparison with High-Gain and Sliding Mode Designs - Archive ouverte HAL Access content directly
Journal Articles International Journal of Control Year : 2019

A Globally Exponentially Stable Speed Observer for a Class of Mechanical Systems: Experimental and Simulation Comparison with High-Gain and Sliding Mode Designs

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Abstract

It is shown in the paper that the problem of speed observation for mechanical systems that are partially linearisable via coordinate changes admits a very simple and robust (exponentially stable) solution with a Luenberger-like observer. This result should be contrasted with the very complicated observers based on immersion and invariance reported in the literature. A second contribution of the paper is to compare , via realistic simulations and highly detailed experiments, the performance of the proposed observer with well-known high-gain and sliding mode observers. In particular, to show that—due to their high sensitivity to noise, that is unavoidable in mechanical systems applications—the performance of the two latter designs is well below par.
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Dates and versions

hal-01658753 , version 1 (07-12-2017)

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Stanislav Aranovskiy, Romeo Ortega, Jose Guadalupe Romero, Dmitry Sokolov. A Globally Exponentially Stable Speed Observer for a Class of Mechanical Systems: Experimental and Simulation Comparison with High-Gain and Sliding Mode Designs. International Journal of Control, 2019, 92 (7), pp.1620-1633. ⟨10.1080/00207179.2017.1404130⟩. ⟨hal-01658753⟩
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