Modal observer design for a flexible motion system with state dependent sensor positions

K.W. Verkerk; J. Achterberg; C.M.M. Lierop, van; S. Weiland

doi:10.1109/CDC.2012.6426444

Modal observer design for a flexible motion system with state dependent sensor positions

K.W. Verkerk, J. Achterberg, C.M.M. Lierop, van, S. Weiland

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

5 Citations (Scopus)

4 Downloads (Pure)

Abstract

This paper focuses on observer design for a flexible motion system with a state dependent output map. After rewriting the modal system to parameter varying form sufficient conditions are derived to obtain a parameter varying modal observer with bounded L2 gain. These conditions translate to linear matrix inequalities (LMIs) when the time derivative of the Lyapunov function is multiconvex. The derived theory is applied to a model of the Herringbone Pattern Planar Actuator (HPPA) where noise and input disturbance affect the system. Using the theory it is possible to estimate independent rigid body motion in six degrees of freedom (DoF) and two flexible modes.

Original language	English
Title of host publication	Proceedings of the 51st IEEE Conference on Decision and Control (CDC), 10-13 December 2012, Maui, Hawaii
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	4498-4504
ISBN (Print)	978-1-4673-2064-1
DOIs	https://doi.org/10.1109/CDC.2012.6426444
Publication status	Published - 2012

Access to Document

10.1109/CDC.2012.6426444

Cite this

Verkerk, K. W., Achterberg, J., Lierop, van, C. M. M., & Weiland, S. (2012). Modal observer design for a flexible motion system with state dependent sensor positions. In Proceedings of the 51st IEEE Conference on Decision and Control (CDC), 10-13 December 2012, Maui, Hawaii (pp. 4498-4504). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CDC.2012.6426444

@inproceedings{c81f916c82d040fa83bd2a198ed95cc1,

title = "Modal observer design for a flexible motion system with state dependent sensor positions",

abstract = "This paper focuses on observer design for a flexible motion system with a state dependent output map. After rewriting the modal system to parameter varying form sufficient conditions are derived to obtain a parameter varying modal observer with bounded L2 gain. These conditions translate to linear matrix inequalities (LMIs) when the time derivative of the Lyapunov function is multiconvex. The derived theory is applied to a model of the Herringbone Pattern Planar Actuator (HPPA) where noise and input disturbance affect the system. Using the theory it is possible to estimate independent rigid body motion in six degrees of freedom (DoF) and two flexible modes.",

author = "K.W. Verkerk and J. Achterberg and {Lierop, van}, C.M.M. and S. Weiland",

year = "2012",

doi = "10.1109/CDC.2012.6426444",

language = "English",

isbn = "978-1-4673-2064-1",

publisher = "Institute of Electrical and Electronics Engineers",

pages = "4498--4504",

booktitle = "Proceedings of the 51st IEEE Conference on Decision and Control (CDC), 10-13 December 2012, Maui, Hawaii",

address = "United States",

}

Verkerk, KW, Achterberg, J, Lierop, van, CMM & Weiland, S 2012, Modal observer design for a flexible motion system with state dependent sensor positions. in Proceedings of the 51st IEEE Conference on Decision and Control (CDC), 10-13 December 2012, Maui, Hawaii. Institute of Electrical and Electronics Engineers, Piscataway, pp. 4498-4504. https://doi.org/10.1109/CDC.2012.6426444

Modal observer design for a flexible motion system with state dependent sensor positions. / Verkerk, K.W.; Achterberg, J.; Lierop, van, C.M.M. et al.
Proceedings of the 51st IEEE Conference on Decision and Control (CDC), 10-13 December 2012, Maui, Hawaii. Piscataway: Institute of Electrical and Electronics Engineers, 2012. p. 4498-4504.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Modal observer design for a flexible motion system with state dependent sensor positions

AU - Verkerk, K.W.

AU - Achterberg, J.

AU - Lierop, van, C.M.M.

AU - Weiland, S.

PY - 2012

Y1 - 2012

N2 - This paper focuses on observer design for a flexible motion system with a state dependent output map. After rewriting the modal system to parameter varying form sufficient conditions are derived to obtain a parameter varying modal observer with bounded L2 gain. These conditions translate to linear matrix inequalities (LMIs) when the time derivative of the Lyapunov function is multiconvex. The derived theory is applied to a model of the Herringbone Pattern Planar Actuator (HPPA) where noise and input disturbance affect the system. Using the theory it is possible to estimate independent rigid body motion in six degrees of freedom (DoF) and two flexible modes.

AB - This paper focuses on observer design for a flexible motion system with a state dependent output map. After rewriting the modal system to parameter varying form sufficient conditions are derived to obtain a parameter varying modal observer with bounded L2 gain. These conditions translate to linear matrix inequalities (LMIs) when the time derivative of the Lyapunov function is multiconvex. The derived theory is applied to a model of the Herringbone Pattern Planar Actuator (HPPA) where noise and input disturbance affect the system. Using the theory it is possible to estimate independent rigid body motion in six degrees of freedom (DoF) and two flexible modes.

U2 - 10.1109/CDC.2012.6426444

DO - 10.1109/CDC.2012.6426444

M3 - Conference contribution

SN - 978-1-4673-2064-1

SP - 4498

EP - 4504

BT - Proceedings of the 51st IEEE Conference on Decision and Control (CDC), 10-13 December 2012, Maui, Hawaii

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway

ER -

Modal observer design for a flexible motion system with state dependent sensor positions

Abstract

Access to Document

Fingerprint

Cite this