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
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;
Conference_Titel :
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-4577-1523-5
DOI :
10.1109/SII.2011.6147480
