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

Amina Benarab (1, 2, 3) , W Alejandro 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 mechanical systems of one degree of freedom. 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 relationships 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 proposed observer is validated through simulations on an inverted pendulum.

Domaines: Mathématiques [math]; Sciences de l'ingénieur [physics]

Amina Benarab, W Alejandro Apaza-Perez. Global observers with finite-time and fixed-time convergence for a class of uncertain mechanical systems. CDC 2021 - 60th Conference on Decision and Control, Dec 2021, Austin, United States. ⟨hal-03323478v2⟩