A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints
A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints
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DOI：
10.1016/j.automatica.2009.10.027
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发表时间：
2010-01-01
期刊：
影响因子：
6.4
通讯作者：
Venkatraman, A.
中科院分区：
文献类型：
--
作者：
Astolfi, A.;Ortega, R.;Venkatraman, A.
一般的n自由度机械系统的速度估计问题具有重要的理论和实际意义。对于无约束系统，文献中已经报道了许多部分解。然而，即使在这种情况下，是否有可能设计一个全局收敛的速度观测器的基本问题仍然悬而未决。本文通过证明3 n-2k+1维全局指数收敛速度观测器的存在性，对具有k个非完整约束的一般力学系统给出了肯定的回答。作为这一一般结果的一个特例，得到了无约束机械系统的观测器。仪器的速度观测器的建设是使用的沉浸和不变性技术，其中的观测器设计问题是重铸作为一个问题，渲染有吸引力的和不变的定义在扩展的状态空间的植物和观测器的流形。(C)2009爱思唯尔有限公司保留所有权利。
The problem of velocity estimation for general, n degrees-of-freedom, mechanical systems, is of great practical and theoretical interest. For unconstrained systems many partial solutions have been reported in the literature. However, even in this case, the basic question of whether it is possible to design a globally convergent speed observer remains open. In this paper, an affirmative answer to the question is given for general mechanical systems with k non-holonomic constraints, by proving the existence of a 3n-2k+1-dimensional globally exponentially convergent speed observer. An observer for unconstrained mechanical systems is obtained as a particular case of this general result. Instrumental for the construction of the speed observer is the use of the Immersion and Invariance technique, in which the observer design problem is recast as a problem of rendering attractive and invariant a manifold defined in the extended state-space of the plant and the observer. (C) 2009 Elsevier Ltd. All rights reserved.