Linear position estimation on smart actuators using a nonlinear observer

Hamidreza Movahedi; Ali Zemouche; Rajesh Rajamani

doi:10.23919/acc.2019.8814729

Linear position estimation on smart actuators using a nonlinear observer

Hamidreza Movahedi, Ali Zemouche, Rajesh Rajamani

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Scopus citations

Abstract

This paper focuses on observer design for a dynamic system with non-monotonic nonlinear measurement equations. A Lyapunov-analysis-based observer design method for exponentially stable state estimation and a corresponding LMI for computing the observer design gains are developed. This observer design method is applied to linear position estimation using magnetic fields for smart industrial actuators. The output equations for magnetic field as a function of position are nonlinear and non-monotonic. A single constant gain that can satisfy the observer stability condition over the entire range of operating conditions does not exist, but a constant stabilizing gain does exist in each piecewise monotonic region. A methodology for discretizing the operating range into piecewise regions and using a finite state machine for switching between piecewise regions with stabilizing observer gains is developed. Experimental results are presented on the performance of the observer in accurately estimating linear position.

Original language	English (US)
Title of host publication	2019 American Control Conference, ACC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	453-458
Number of pages	6
ISBN (Electronic)	9781538679265
DOIs	https://doi.org/10.23919/acc.2019.8814729
State	Published - Jul 2019
Event	2019 American Control Conference, ACC 2019 - Philadelphia, United States Duration: Jul 10 2019 → Jul 12 2019

Publication series

Name	Proceedings of the American Control Conference
Volume	2019-July
ISSN (Print)	0743-1619

Conference

Conference	2019 American Control Conference, ACC 2019
Country/Territory	United States
City	Philadelphia
Period	7/10/19 → 7/12/19

Bibliographical note

Funding Information:
This research was supported in part by funding from the National Science Foundation under Grant CMMI 1562006.

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Linear position estimation on smart actuators using a nonlinear observer. / Movahedi, Hamidreza; Zemouche, Ali; Rajamani, Rajesh.
2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 453-458 8814729 (Proceedings of the American Control Conference; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Movahedi, H, Zemouche, A & Rajamani, R 2019, Linear position estimation on smart actuators using a nonlinear observer. in 2019 American Control Conference, ACC 2019., 8814729, Proceedings of the American Control Conference, vol. 2019-July, Institute of Electrical and Electronics Engineers Inc., pp. 453-458, 2019 American Control Conference, ACC 2019, Philadelphia, United States, 7/10/19. https://doi.org/10.23919/acc.2019.8814729

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Linear position estimation on smart actuators using a nonlinear observer

Abstract

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