文章基本信息

标题：Global sliding-mode observers for a class of mechanical systems with disturbances
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作者：W. Alejandro Apaza-Pérez ; W. Alejandro Apaza-Pérez ; Jaime A. Moreno 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：18
页码：440-445
DOI：10.1016/j.ifacol.2016.10.205
语种：English
出版社：Elsevier
摘要：Abstract: The problem of velocity estimation in a mechanical system has been paid a lot of attention for the past several years. In this paper we propose a finite-time observer for a class of non-linear systems containing the Lagrangian systems with disturbances. The discontinuous observer design, proposed here, does not need bounded trajectories in the system, as opposed to what is considered in the literature. To deal with the quadratic term in the velocity, a transformation of states is introduced. Dissipative properties are used for observer design and this is reduced to the solution of some matrix inequalities.
关键词：KeywordsVelocity observersNon-linear observersSliding-mode observersDissipative observers