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

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. Un...

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Bibliographic Details
Published in:Nonlinear dynamics 2016-07, Vol.85 (1), p.425-437
Main Authors: Tavan, Mehdi, Khaki-Sedigh, Ali, Arvan, Mohammad-Reza, Vali, Ahmad-Reza
Format: Article
Language:English
Subjects:
Adaptive systems
Automotive Engineering
Classical Mechanics
Control
Dynamical Systems
Engineering
Invariance
Mechanical Engineering
Mechanical systems
Original Paper
Submerging
Vibration
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Summary: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.
ISSN:0924-090X
1573-269X
DOI:10.1007/s11071-016-2696-2