A Simple Nonlinear Observer for a Class of Uncertain Mechanical Systems

A simple nonlinear observer is proposed for a class of uncertain nonlinear multiple-input-multiple-output (MIMO) mechanical systems whose dynamics are first-order differentiable. The global asymptotic observation of the proposed observer is proved. Thus, the observer can be designed independently of the controller. Furthermore, the proposed observer is formulated without any detailed model knowledge of the system. These advantages make it easy to implement. Numerical simulations are included to illustrate the effectiveness of the proposed observer.