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International Journal of Robotics، جلد ۴، شماره ۲، صفحات ۳۶-۴۷
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| عنوان فارسی |
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| چکیده فارسی مقاله |
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| عنوان انگلیسی |
Development of a Robust Observer for General Form Nonlinear System: Theory, Design and Implementation |
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| چکیده انگلیسی مقاله |
The problem of observer design for nonlinear systems has got great attention in the recent literature. The nonlinear observer has been a topic of interest in control theory. In this research, a modified robust sliding-mode observer (SMO) is designed to accurately estimate the state variables of nonlinear systems in the presence of disturbances and model uncertainties. The observer has a simple structure but is capable of efficient observation in the state estimation of dynamic systems. Stability of the developed observer and its convergence is proven. It is shown that the estimated states converge to the actual states in a finite time. The performance of the nonlinear observer is investigated by examining its capability in estimation of the motion of a two link rigid-flexible manipulator. The observation process of this system is complicated because of the high frequency vibration of the flexible link. Simulation results demonstrate the ability of the observer in accurately estimating the state variables of the system in the presence of structured uncertainties along with different initial conditions between the observer and the plant. |
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| نویسندگان مقاله |
بهرام تارویردی زاده |
faculty of new science and technology, university of tehran, tehran, iran, p.o. box, 14399-57131
سازمان اصلی تایید شده: دانشگاه تهران (Tehran university)
عقیل یوسفی کما | yousefi koma
faculty of mechanical engineering, university of tehran, tehran, iran, p.o. box, 14395-515
سازمان اصلی تایید شده: دانشگاه تهران (Tehran university)
اسماعیل خان میرزا |
school of mechanical engineering, iran university of science and technology, tehran, iran, p.o. box, 16846-13114
سازمان اصلی تایید شده: دانشگاه علم و صنعت ایران (Iran university of science and technology)
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| نشانی اینترنتی |
http://ijr.kntu.ac.ir/article_12524_e2e6f1cda7f201bf72b055fde6d702b5.pdf |
| فایل مقاله |
اشکال در دسترسی به فایل - ./files/site1/rds_journals/430/article-430-395003.pdf |
| کد مقاله (doi) |
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| زبان مقاله منتشر شده |
en |
| موضوعات مقاله منتشر شده |
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