Abstract
In this paper, a novel non-smooth observer is proposed to handle the state estimation of mechanical transmission systems described by sandwich model with backlash. Based on the characteristic of the system, a non-smooth state-space function is constructed in terms of the separation principle. Then, a non-smooth observer is developed based on the obtained non-smooth state-space model. The observer can switch among the different operating zones automatically in terms of the variation of operation conditions. Finally, the simulation results are presented.
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© 2012 Springer-Verlag Berlin Heidelberg
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Zhou, Z., Tan, Y., Dong, R., He, H. (2012). Non-smooth Observer for Mechanical Systems Based on Sandwich Model with Backlash. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33509-9_61
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DOI: https://doi.org/10.1007/978-3-642-33509-9_61
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33508-2
Online ISBN: 978-3-642-33509-9
eBook Packages: Computer ScienceComputer Science (R0)