Functional Observers for Motion Control Systems
نویسندگان
چکیده
منابع مشابه
Functional Observers for Motion Control Systems
This paper presents a novel functional observer for motion control systems to provide higher accuracy and less noise in comparison to existing observers. The observer uses the input current and position information along with the nominal parameters of the plant and can observe the velocity, acceleration and disturbance information of the system. The novelty of the observer is based on its funct...
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Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
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A constructive procedure to design a single linear functional observer for a time-invariant linear system is given. The proposed procedure is simple and is not based on the solution of a Sylvester equation or on the use of canonical state space forms. Both stable observers or fixed poles observers problems are considered for minimality.
متن کاملFunctional Observers for Linear Systems with Unknown Inputs
In this paper, a straightforward approach is presented to design functional observers for linear systems with unknown inputs. Necessary and sufficient conditions are provided for the existence of the observers. Some illustrated examples are included.
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ژورنال
عنوان ژورنال: Automatika
سال: 2013
ISSN: 0005-1144,1848-3380
DOI: 10.7305/automatika.54-2.195