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Technical Briefs

A Note on a Reduced-Order Observer Based Controller for a Class of Lipschitz Nonlinear Systems

[+] Author and Article Information
Mohamadreza Homayounzade

e-mail: m.homayounzade@me.iut.ac.ir

Mehdi Keshmiri

e-mail: mehdik@cc.iut.ac.ir
Department of Mechanical Engineering,
Isfahan University of Technology,
P.O. Box 84156,
Isfahan, Iran

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 22, 2011; final manuscript received May 6, 2012; published online November 7, 2012. Assoc. Editor: Bor-Chin Chang.

J. Dyn. Sys., Meas., Control 135(1), 014505 (Nov 07, 2012) (4 pages) Paper No: DS-11-1126; doi: 10.1115/1.4007235 History: Received April 22, 2011; Revised May 06, 2012

This paper presents a novel reduced-order observer based controller for a class of Lipschitz nonlinear systems, described by a set of second order ordinary differential equations. The control law is designed based on the measured output and estimated states. The main features are: (1) The computation cost is reduced noticeably, since the observer is a reduced-order one; (2) The controller guarantees semi-global exponential stability for both estimation and tracking error; and (3) The proposed method can be used in a large range of applications, especially in mechanical systems. The effectiveness of the proposed method is investigated through the numerical simulation for a two-degrees-of-freedom robot manipulator acting on a horizontal worktable.

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Figures

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Fig. 1

Scheme of manipulator constrained to move on a horizontal platform

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Fig. 2

Time history of joint position error

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Fig. 3

Time history of joint velocity error

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Fig. 4

Time history of joint velocity estimation

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Fig. 5

Time history of actuator torque

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Fig. 6

Robustness of joint position error to links mass

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Fig. 7

Robustness of joint position error to links length

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