A globally exponentially stable observer for torque estimation with only position measurement

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-09-19 DOI:10.1177/09596518231192770

Li Liu, Xiaokui Yue, Haowei Wen, Zhiwei Hao, Yuan Zhu

引用次数: 0

Abstract

A novel estimation scheme for joint torque information is constructed by observer design method in the case that force/torque/velocity/acceleration sensors of manipulator are not available. Based on generalized dynamic scaling function and scalar filtering, the globally exponentially stable observer for torque estimation with only position measurement is presented in this article. The main contribution lies in the development of the classic Nicosia observer with performance improvements and significant order reduction compared to the existing results. Comparative simulations demonstrate the effectiveness and superiority of the proposed scheme.

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只用位置测量的全局指数稳定的扭矩估计观测器

采用观测器设计方法，在机械臂力/力矩/速度/加速度传感器不可用的情况下，构造了一种新的关节力矩信息估计方案。本文基于广义动态尺度函数和标量滤波，提出了一种全局指数稳定的仅测量位置的力矩估计观测器。主要贡献在于开发了经典的尼科西亚观测器，与现有结果相比，它的性能有所改进，阶数显著减少。仿真对比验证了该方案的有效性和优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.