Observer design for an experimental rotor system with discontinuous friction

A. Juloski; N. Mihajlovic; W.P.M.H. Heemels; N. Wouw, van de; H. Nijmeijer

Observer design for an experimental rotor system with discontinuous friction

A. Juloski
, N. Mihajlovic
, W.P.M.H. Heemels
, N. Wouw, van de
, H. Nijmeijer

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

Abstract

Abstract—In this paper we present an experimental observer design for a rotor system with friction. The model of the system exhibits set-valued static friction law with the Stribeck effect. As the model of the setup is non-smooth and non-Lipschitz, observer has to be designed using mathematical tools from convex analysis and the theory of differential inclusions. The designed observer guarantees that there exists a unique solutionto the observer dynamics and that the estimated state converges to the true state of the system. Simulation and experimental results illustrate the design and performance of the observer in practice.

Original language	English
Title of host publication	Proceedings of the 2006 American Control Conference (ACC 2006), 14-16 June 2006, Minneapolis
Place of Publication	United States, Minneapolis
Publisher	Institute of Electrical and Electronics Engineers
Pages	2886-2891
ISBN (Print)	1-4244-0210-7
Publication status	Published - 2006

Cite this

@inproceedings{2d48a768699444f6ae590ee75279e384,

title = "Observer design for an experimental rotor system with discontinuous friction",

abstract = "Abstract—In this paper we present an experimental observer design for a rotor system with friction. The model of the system exhibits set-valued static friction law with the Stribeck effect. As the model of the setup is non-smooth and non-Lipschitz, observer has to be designed using mathematical tools from convex analysis and the theory of differential inclusions. The designed observer guarantees that there exists a unique solutionto the observer dynamics and that the estimated state converges to the true state of the system. Simulation and experimental results illustrate the design and performance of the observer in practice.",

author = "A. Juloski and N. Mihajlovic and W.P.M.H. Heemels and \{Wouw, van de\}, N. and H. Nijmeijer",

year = "2006",

language = "English",

isbn = "1-4244-0210-7",

pages = "2886--2891",

booktitle = "Proceedings of the 2006 American Control Conference (ACC 2006), 14-16 June 2006, Minneapolis",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

}

Observer design for an experimental rotor system with discontinuous friction. / Juloski, A.; Mihajlovic, N.; Heemels, W.P.M.H. et al.
Proceedings of the 2006 American Control Conference (ACC 2006), 14-16 June 2006, Minneapolis. United States, Minneapolis: Institute of Electrical and Electronics Engineers, 2006. p. 2886-2891.

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

TY - GEN

T1 - Observer design for an experimental rotor system with discontinuous friction

AU - Juloski, A.

AU - Mihajlovic, N.

AU - Heemels, W.P.M.H.

AU - Wouw, van de, N.

AU - Nijmeijer, H.

PY - 2006

Y1 - 2006

N2 - Abstract—In this paper we present an experimental observer design for a rotor system with friction. The model of the system exhibits set-valued static friction law with the Stribeck effect. As the model of the setup is non-smooth and non-Lipschitz, observer has to be designed using mathematical tools from convex analysis and the theory of differential inclusions. The designed observer guarantees that there exists a unique solutionto the observer dynamics and that the estimated state converges to the true state of the system. Simulation and experimental results illustrate the design and performance of the observer in practice.

AB - Abstract—In this paper we present an experimental observer design for a rotor system with friction. The model of the system exhibits set-valued static friction law with the Stribeck effect. As the model of the setup is non-smooth and non-Lipschitz, observer has to be designed using mathematical tools from convex analysis and the theory of differential inclusions. The designed observer guarantees that there exists a unique solutionto the observer dynamics and that the estimated state converges to the true state of the system. Simulation and experimental results illustrate the design and performance of the observer in practice.

M3 - Conference contribution

SN - 1-4244-0210-7

SP - 2886

EP - 2891

BT - Proceedings of the 2006 American Control Conference (ACC 2006), 14-16 June 2006, Minneapolis

PB - Institute of Electrical and Electronics Engineers

CY - United States, Minneapolis

ER -

Observer design for an experimental rotor system with discontinuous friction

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