Observer Design for Frictionless and Unilaterally Constrained Mechanical Systems: A Passivity-Based Approach
Résumé
This paper addresses the problem of estimating the velocity variables, using the position measure-ment as output, in nonlinear Lagrangian dynamical systems with perfect unilateral constraints. Using the class of bounded variation functions to model the velocity variables (so that Zeno phenomenon is not ruled out), we represent the derivative of such functions with the Lebesgue-Stieltjes measure, and use the framework of measure differential inclusion (MDI) to describe the dynamics. Under the assumption that the velocity of the system is uniformly bounded, an observer is designed which is also a measure differential inclusion. It is proved that there exists a unique solution to the proposed observer and this solution converges asymptotically to the actual velocity.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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