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

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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.

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Periodical:

Applied Mechanics and Materials (Volumes 446-447)

Pages:

532-535

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.446-447.532

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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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© 2014 Trans Tech Publications Ltd. All Rights Reserved

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