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dc.contributor.authorRuderman, Michael
dc.date.accessioned2023-12-07T07:38:08Z
dc.date.available2023-12-07T07:38:08Z
dc.date.created2023-03-03T19:36:09Z
dc.date.issued2023
dc.identifier.citationRuderman, M. (2023). Robust asymptotic observer of motion states with nonlinear friction.I H. Ishii, Y. Ebihara, J.-i Imura & M. Yamakita (Red.), 22nd IFAC World Congress, Yokohama, Japan, July 9-14, 2023 ( 56, 2, s. 5931-5936). Elsevier.en_US
dc.identifier.isbn9781510850712
dc.identifier.issn2405-8963
dc.identifier.urihttps://hdl.handle.net/11250/3106304
dc.description.abstractThis paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the relative motion. The class of motion systems with the only measurable output displacement is considered. The reduced-order Luenberger-type observer is designed based on the obtained simplified state-space representation with a time-varying system matrix. The resulted observation error dynamics proves to be robust and appropriate for all variations of the system matrix, which are due to the nonlinear spatially-varying friction. A specially designed tribological setup to accurately monitor the relative motion between two contacting friction surfaces is used to collect the experimental data of the deceleration trajectories when excited by a series of impulses. The performance of the state estimation using the proposed observer is shown based on the collected experimental data.en_US
dc.language.isoengen_US
dc.publisherElsevieren_US
dc.relation.ispartof22nd IFAC World Congress
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleRobust asymptotic observer of motion states with nonlinear frictionen_US
dc.title.alternativeRobust asymptotic observer of motion states with nonlinear frictionen_US
dc.typeChapteren_US
dc.description.versionacceptedVersionen_US
dc.rights.holder© 2023 The Author(s)en_US
dc.subject.nsiVDP::Teknologi: 500::Informasjons- og kommunikasjonsteknologi: 550en_US
dc.source.pagenumber5931-5936en_US
dc.source.volume56en_US
dc.source.issue2en_US
dc.identifier.doihttps://doi.org/10.1016/j.ifacol.2023.10.1909
dc.identifier.cristin2131126


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal