DocumentCode
3264959
Title
Stochastic evaluation of dissipative observer for multivalued nonlinear system with Coulomb friction
Author
Hiroshige, Teppei ; Suemitsu, Haruo ; Matsuo, Takami
Author_Institution
Grad. Sch. of Eng., Oita Univ., Oita, Japan
fYear
2011
fDate
20-22 Dec. 2011
Firstpage
392
Lastpage
397
Abstract
In this paper, using the stochastic friction approximation, we present a simulation model of a multivalued system in order to validate the performance of the observer for the 2-cart system with Coulomb friction as a multivalued system proposed by Osorio et al.. We show that the stochastic approximation of the multivalued function affects the estimation performance and it is impossible to estimate the friction force near the zero velocity. Finally, we design the adaptive update law to estimate the Coulomb sliding friction force.
Keywords
adaptive control; approximation theory; friction; nonlinear control systems; observers; stochastic systems; 2-cart system; Coulomb sliding friction force; adaptive update law; multivalued function; multivalued nonlinear system; stochastic dissipative observer evaluation; stochastic friction approximation; zero velocity; Estimation error; Force; Friction; Observers; Stochastic processes; Surface treatment;
fLanguage
English
Publisher
ieee
Conference_Titel
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location
Kyoto
Print_ISBN
978-1-4577-1523-5
Type
conf
DOI
10.1109/SII.2011.6147480
Filename
6147480
Link To Document