A Class of Hybrid Velocity Observers for Angular Measurements With Jumps

Abstract : We propose a hybrid nonlinear high-gain observer to estimate the speed of rotary systems equipped with potentiometer-based, capacitive or hall-effect rotary sensors or providing angular measurements evolving in S1, exhibiting unpredictable jumps of 2π. A hybrid measurement model is proposed, based on which a hybrid high-gain observer is synthesized, which does not require the knowledge of the jump times. Asymptotic tracking of the proposed observer is proven. A sampled-data approximation of the proposed observer is developed as well, based on which an experimental validation shows suitability for real-time applications.
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IEEE Control Systems Letters, IEEE, 2018, 2 (4), pp.617 - 622. 〈10.1109/LCSYS.2018.2845307〉
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Contributeur : Luca Zaccarian <>
Soumis le : vendredi 10 août 2018 - 00:15:09
Dernière modification le : vendredi 7 décembre 2018 - 01:22:43
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BrentariCSL18.pdf
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Mirko Brentari, Paolo Bosetti, Luca Zaccarian. A Class of Hybrid Velocity Observers for Angular Measurements With Jumps. IEEE Control Systems Letters, IEEE, 2018, 2 (4), pp.617 - 622. 〈10.1109/LCSYS.2018.2845307〉. 〈hal-01851131〉

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