Design of a Globally and Exponentially Convergent State Observer and its Application to a Mechanical System with Coulomb Friction

Abstract:

We show that there always exists a globally and exponentially convergent state-observer for a class of nonlinear systems with nonlinearities that need not satisfy locally Lipschitz condition. So it can be applied to a mechanical system with discontinuous nonlinearities such as Coulomb friction. We not only provide a rigorous proof of convergence of our proposed observer but also how to systematically design it. Through simulation results, the validity of the proposed observer is verified.

• Periodical: Applied Mechanics and Materials (Volumes 446-447)
• Pages: 532-535
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.446-447.532
• Online since: November 2013
• Authors: Ho Chan Kim, Dong Eui Chang, Seong Ho Song
• Keywords: Coulomb Friction, Mechanical System with Nonlinearities, Stability Analysis, State Observer

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