Immersion and invariance adaptive velocity observer for a class of Euler-Lagrange mechanical systems

被引：16

作者：

Tavan, Mehdi ^{[1
]}

Khaki-Sedigh, Ali ^{[2
]}

Arvan, Mohammad-Reza ^{[3
]}

Vali, Ahmad-Reza ^{[3
]}

机构：

[1] Islamic Azad Univ, Sci & Res Branch, Dept Elect Engn, Tehran, Iran

[2] KN Toosi Univ Technol, Ind Control Ctr Excellence, Fac Elect Engn, Tehran, Iran

[3] Malek Ashtar Univ Technol, Dept Elect Engn, Tehran, Iran

来源：

NONLINEAR DYNAMICS | 2016年 / 85卷 / 01期

关键词：

Euler-Lagrange mechanical system; Adaptive velocity observer; Input-output filtered transformation; Immersion and invariance technique; TRACKING;

D O I：

10.1007/s11071-016-2696-2

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper addresses the problem of velocity estimation for a class of uncertain mechanical systems. Using advantages of immersion and invariance technique with input-output filtered transformation, a proper immersion and dynamical auxiliary filter have been constructed in the designed estimator. Uniform global asymptotic convergence of the velocity estimator has been proved for the system with parametric uncertainties. In the presence of perturbations on the input and output, the performance analysis of the estimator has been theoretically investigated and illustrated by simulation results.

引用

页码：425 / 437

页数：13

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