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- Title
Immersion and invariance adaptive velocity observer for a class of Euler-Lagrange mechanical systems.
- Authors
Tavan, Mehdi; Khaki-Sedigh, Ali; Arvan, Mohammad-Reza; Vali, Ahmad-Reza
- Abstract
This paper addresses the problem of velocity estimation for a class of uncertain mechanical systems. Using advantages of immersion and invariance technique with input-output filtered transformation, a proper immersion and dynamical auxiliary filter have been constructed in the designed estimator. Uniform global asymptotic convergence of the velocity estimator has been proved for the system with parametric uncertainties. In the presence of perturbations on the input and output, the performance analysis of the estimator has been theoretically investigated and illustrated by simulation results.
- Subjects
VELOCITY; MECHANICAL ability testing; HEAT of wetting; SYMMETRY (Physics); PARAMETRIC equations
- Publication
Nonlinear Dynamics, 2016, Vol 85, Issue 1, p425
- ISSN
0924-090X
- Publication type
Article
- DOI
10.1007/s11071-016-2696-2