dc.contributor.author | Ruderman, Michael | |
dc.date.accessioned | 2023-12-07T07:38:08Z | |
dc.date.available | 2023-12-07T07:38:08Z | |
dc.date.created | 2023-03-03T19:36:09Z | |
dc.date.issued | 2023 | |
dc.identifier.citation | Ruderman, 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.isbn | 9781510850712 | |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | https://hdl.handle.net/11250/3106304 | |
dc.description.abstract | This 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.iso | eng | en_US |
dc.publisher | Elsevier | en_US |
dc.relation.ispartof | 22nd IFAC World Congress | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Robust asymptotic observer of motion states with nonlinear friction | en_US |
dc.title.alternative | Robust asymptotic observer of motion states with nonlinear friction | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.rights.holder | © 2023 The Author(s) | en_US |
dc.subject.nsi | VDP::Teknologi: 500::Informasjons- og kommunikasjonsteknologi: 550 | en_US |
dc.source.pagenumber | 5931-5936 | en_US |
dc.source.volume | 56 | en_US |
dc.source.issue | 2 | en_US |
dc.identifier.doi | https://doi.org/10.1016/j.ifacol.2023.10.1909 | |
dc.identifier.cristin | 2131126 | |