A Class of Hybrid Velocity Observers for Angular Measurements With Jumps

Mirko Brentari (1) , Paolo Bosetti (1) , Luca Zaccarian (2, 3)

1 UNITN - Università degli Studi di Trento = University of Trento
2 Dipartimento di Ingegneria Industriale [Trento]
3 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande

We propose a hybrid nonlinear high-gain observer to estimate the speed of rotary systems equipped with potentiometer-based, capacitive or hall-effect rotary sensors or providing angular measurements evolving in S1, exhibiting unpredictable jumps of 2π. A hybrid measurement model is proposed, based on which a hybrid high-gain observer is synthesized, which does not require the knowledge of the jump times. Asymptotic tracking of the proposed observer is proven. A sampled-data approximation of the proposed observer is developed as well, based on which an experimental validation shows suitability for real-time applications.

Domaines: Automatique / Robotique

Mirko Brentari, Paolo Bosetti, Luca Zaccarian. A Class of Hybrid Velocity Observers for Angular Measurements With Jumps. IEEE Control Systems Letters, 2018, 2 (4), pp.617 - 622. ⟨10.1109/LCSYS.2018.2845307⟩. ⟨hal-01851131⟩