Development and Convergence Approve of a Robust Nonlinear Sliding Mode Observer for General Form of Nonlinear Systems
- سال انتشار: 1390
- محل انتشار: نوزدهمین همایش سالانه مهندسی مکانیک
- کد COI اختصاصی: ISME19_422
- زبان مقاله: انگلیسی
- تعداد مشاهده: 1937
نویسندگان
PhD Candidate, School of Mechanical Engineering, University of Tehran
Associate professor, School of Mechanical Engineering, University of Tehran.
PhD Candidate, School of Mechanical Engineering, University of Tehran
چکیده
Accurate measurement of state variables of a dynamic system is often not possible due to the high cost of sensors, the space limitation, sensor damages due to contact or hostile environments. In this research a modified robust sliding mode observer is designed to accurately estimate the state variables of nonlinear systems in the presence of disturbances and model uncertainties. The observer has simple structure but efficient observation in the state estimation of dynamical systems. Stability of the developed observer and its convergence is proven. It is shown that the estimated states converge to the actual state in a finite time. The performance of the nonlinear observer is investigated by examining its capability in predicting the motion of a single link flexible manipulator. The link is driven by an electric motor mounted in the joint. Simulation results demonstrate the ability of the observer in accurately estimating the state variables of the system in the presence of structured uncertainties and different initial conditions between the observer and the plant, with various inputs.کلیدواژه ها
dynamical modeling, nonlinear observer,estimator, robust observer, sliding mode observerمقالات مرتبط جدید
اطلاعات بیشتر در مورد COI
COI مخفف عبارت CIVILICA Object Identifier به معنی شناسه سیویلیکا برای اسناد است. COI کدی است که مطابق محل انتشار، به مقالات کنفرانسها و ژورنالهای داخل کشور به هنگام نمایه سازی بر روی پایگاه استنادی سیویلیکا اختصاص می یابد.
کد COI به مفهوم کد ملی اسناد نمایه شده در سیویلیکا است و کدی یکتا و ثابت است و به همین دلیل همواره قابلیت استناد و پیگیری دارد.