{"title":"Nonlinear reduced order observer design for elastic drive systems using invariant manifolds","authors":"I. Khan, R. Dhaouadi","doi":"10.1109/ICMECH.2015.7083948","DOIUrl":null,"url":null,"abstract":"This paper presents the design of a nonlinear reduced order observer to estimate the load position and speed of an elastic drive system. The reduced order observer is designed using the notion of invariant manifold. First, a manifold is defined in terms of the error dynamics. Then, the mapping functions are selected in such a way that the error dynamics become asymptotically stable at the equilibrium point. Simulation and experimental results are shown to validate the proposed methodology for a two mass model system.","PeriodicalId":179621,"journal":{"name":"2015 IEEE International Conference on Mechatronics (ICM)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE International Conference on Mechatronics (ICM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMECH.2015.7083948","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
This paper presents the design of a nonlinear reduced order observer to estimate the load position and speed of an elastic drive system. The reduced order observer is designed using the notion of invariant manifold. First, a manifold is defined in terms of the error dynamics. Then, the mapping functions are selected in such a way that the error dynamics become asymptotically stable at the equilibrium point. Simulation and experimental results are shown to validate the proposed methodology for a two mass model system.