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Global observers with finite-time and fixed-time convergence for a class of uncertain mechanical systems
This paper proposes global sliding mode observers for a class of one-degree-of-freedom mechanical systems. For the observer design, besides the usual Coriolis and centrifugal forces, we consider uncertain dry frictions and disturbances. Moreover, the system is not required to be bounded-input bounde...
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Main Authors: | , |
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Format: | Conference Proceeding |
Language: | English |
Subjects: | |
Online Access: | Request full text |
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Summary: | This paper proposes global sliding mode observers for a class of one-degree-of-freedom mechanical systems. For the observer design, besides the usual Coriolis and centrifugal forces, we consider uncertain dry frictions and disturbances. Moreover, the system is not required to be bounded-input bounded-state stable, rendering the observer design problem challenging. The observer design exploits the specific relationships between the inertia and Coriolis terms providing a sliding-mode observer, with global theoretically exact finite-time and fixed-time convergence to the velocities of the mechanical system. The efficiency of the proposed observer is validated through simulations on an inverted pendulum. |
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ISSN: | 2576-2370 |
DOI: | 10.1109/CDC45484.2021.9683239 |