Global observers with finite-time and fixed-time convergence for a class of uncertain mechanical systems

Amina Benarab (1, 2, 3) , W. A. Apaza-Perez (1)

1 L2S - Laboratoire des signaux et systèmes
2 IPSA - Institut Polytechnique des Sciences Avancées
3 DISCO - Dynamical Interconnected Systems in COmplex Environments

This paper proposes global sliding mode observers for a class of one-degree-of-freedom mechanical systems. For the observer design, besides the usual Coriolis and centrifugal forces, we consider uncertain dry frictions and disturbances. Moreover, the system is not required to be bounded-input bounded-state stable, rendering the observer design problem challenging. The observer design exploits the specific rela- tionships between the inertia and Coriolis terms providing a sliding-mode observer, with global theoretically exact finite-time and fixed-time convergence to the velocities of the mechanical system. The efficiency of the proposed observer is validated through simulations on an inverted pendulum.

Domaines: Mathématiques [math]; Automatique / Robotique; Mathématiques générales [math.GM]; Science non linéaire [physics]; Systèmes et contrôle [cs.SY]

Amina Benarab, W. A. Apaza-Perez. Global observers with finite-time and fixed-time convergence for a class of uncertain mechanical systems. IEEE 60th Conference on Decision and Control (CDC 2021), Dec 2021, Austin, United States. ⟨10.1109/cdc45484.2021.9683239⟩. ⟨hal-03323478v3⟩