A Class of Hybrid Velocity Observers for Angular Measurements with Jumps

Mirko Brentari1, Paolo Bosetti1, Luca Zaccarian2

  • 1University of Trento
  • 2LAAS-CNRS and University of Trento

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Regular Session

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10:00 - 12:00 | Mon 17 Dec | Splash 7-8 | MoA16

Observers for Nonlinear Systems I

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Abstract

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 2 pi. 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.

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