Immersion and invariance adaptive velocity observer for a class of Euler–Lagrange mechanical systems

Tavan, Mehdi; Khaki‐Sedigh, Ali; Arvan, Mohammad Reza; Vali, Ahmad Reza

doi:10.1007/s11071-016-2696-2

Cited by 16 publications

(7 citation statements)

References 21 publications

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“…According to (16) and the invertibility of ( 1 ∕ ) by Assumption 3, we select the following observer dynamics:…”

Section: Reduced-order Eso Designmentioning

confidence: 99%

“…13,14 The generality of the I&I formulation of the observer design problem, in connection with the Luenberger-type observers, is shown by Ortega and Zhang. 15 I&I observers have been proposed and studied for a wide variety of applications such as Euler-Lagrange systems, 13,16 nonholonomic mechanical systems, 17 nonlinear vibrating systems, 18 attitude-heading reference systems, 19 and systems with time-delayed measurements. 20 The main contribution of this article is to present a geometric framework for the ESO design.…”

Section: Introductionmentioning

confidence: 99%

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Immersion and invariance‐based extended state observer design for a class of nonlinear systems

Hosseini-Pishrobat

Keighobadi

Pirastehzad

et al. 2021

Intl J Robust & Nonlinear

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This article presents a novel geometric framework for the design of extended state observers (ESOs) using the immersion and invariance (I&I) method. The ESO design problem of a class of uncertain lower‐triangular nonlinear systems is considered for joint state and total disturbance observation. This problem is formulated as designing a dynamical system, as the observer, along with an appropriately defined manifold in the system‐observer extended state‐space. The ESO convergence translates into the attractivity of this manifold; that is, the convergence of the system‐observer trajectories to a small boundary layer around the manifold. The design of both reduced‐order and full‐order ESOs is studied using the I&I formulation. Moreover, an optimization method based on linear matrix inequalities is proposed to establish the convergence of ESOs. It is shown that the I&I‐based method leads to a unifying framework for the design and analysis of ESOs with linear, nonlinear, and time‐varying gains. Detailed simulations are provided to show the efficacy of the proposed ESOs.

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“…According to (16) and the invertibility of ( 1 ∕ ) by Assumption 3, we select the following observer dynamics:…”

Section: Reduced-order Eso Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Immersion and invariance‐based extended state observer design for a class of nonlinear systems

Hosseini-Pishrobat

Keighobadi

Pirastehzad

et al. 2021

Intl J Robust & Nonlinear

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show abstract

“…M(q) ∈ R n×n denotes the positive definite symmetric inertia matrix. C(q,q) ∈ R n×n and G(q) ∈ R n denote the Centripetal-Coriolis [27] and gravitational effect respectively. u d ∈ R n is the external disturbance torque that obeys a Gaussian distribution with zero mean.…”

Section: Kinetic Modelmentioning

confidence: 99%

Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment

et al. 2020

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To avoid serious damages caused by the dynamic environment, fault detection and health assessment are essential for an integrated robotic system. In this paper, we propose a fault detection algorithm and a health degree assessment approach for a robot manipulator system. Both the internal disturbance and the output measurement disturbance are considered in the proposed method. In addition, an adaptive observer is utilized to reconstruct the real system of robot manipulators. Under the proposed observer, the real system is estimated to detect the fault and obtain the health degree of the robot manipulator. The feasibility and reliability of the proposed fault detection algorithm and health degree assessment index for robot manipulator systems are proved by simulation experiments.

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“…where O 2 R p 3 p and o 2 R p represent the zero matrix and zero vector, respectively. Following the I&I procedure (Astolfi et al, 2007;Tavan et al, 2016), defines the estimation error as…”

Section: Observer Designmentioning

confidence: 99%

Immersion and invariance-based filtered transformation with application to estimator design for a class of DC-DC converters

Malekzadeh

Khosravi

Tavan

2018

Transactions of the Institute of Measurement and Control

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This paper addresses the problem of state and parameter estimation for a class of uncertain DC-DC such converters as DC–DC boost, buck and buck-boost converters. Using the advantages of Immersion and Invariance technique with input-output filtered transformation, a proper immersion and auxiliary dynamic filter is constructed in the proposed estimator. Uniform global asymptotic convergence of the estimator is proven for the system with parametric uncertainties. In the presence of both output and state dynamics perturbations, the performance of the proposed estimator has been theoretically analyzed and verified by means of simulation results. In addition, the effectiveness of this scheme is validated via experimental test for DC-DC boost converter.

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Immersion and invariance adaptive velocity observer for a class of Euler–Lagrange mechanical systems

Cited by 16 publications

References 21 publications

Immersion and invariance‐based extended state observer design for a class of nonlinear systems

Immersion and invariance‐based extended state observer design for a class of nonlinear systems

Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment

Immersion and invariance-based filtered transformation with application to estimator design for a class of DC-DC converters

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