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Conference Papers Year : 2021

Global observers with finite-time and fixed-time convergence for a class of uncertain mechanical systems

Abstract

This paper proposes global sliding mode observers for a class of one-degree-of-freedom mechanical systems. For the observer design, besides the usual Coriolis and centrifugal forces, we consider uncertain dry frictions and disturbances. Moreover, the system is not required to be bounded-input bounded-state stable, rendering the observer design problem challenging. The observer design exploits the specific rela- tionships between the inertia and Coriolis terms providing a sliding-mode observer, with global theoretically exact finite-time and fixed-time convergence to the velocities of the mechanical system. The efficiency of the proposed observer is validated through simulations on an inverted pendulum.
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Dates and versions

hal-03323478 , version 1 (21-08-2021)
hal-03323478 , version 2 (29-09-2021)
hal-03323478 , version 3 (01-10-2021)

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Amina Benarab, W. A. Apaza-Perez. Global observers with finite-time and fixed-time convergence for a class of uncertain mechanical systems. IEEE 60th Conference on Decision and Control (CDC 2021), Dec 2021, Austin, United States. ⟨10.1109/cdc45484.2021.9683239⟩. ⟨hal-03323478v3⟩
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