A Class of Hybrid Velocity Observers for Angular Measurements with Jumps

Mirko Brentari • Paolo Bosetti • Luca Zaccarian

10:00 - 10:20 | Monday 17 December 2018 | Splash 7-8



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.