Non-smooth Observer for Mechanical Systems Based on Sandwich Model with Backlash
In this paper, a novel non-smooth observer is proposed to handle the state estimation of mechanical transmission systems described by sandwich model with backlash. Based on the characteristic of the system, a non-smooth state-space function is constructed in terms of the separation principle. Then, a non-smooth observer is developed based on the obtained non-smooth state-space model. The observer can switch among the different operating zones automatically in terms of the variation of operation conditions. Finally, the simulation results are presented.
KeywordsNon-smooth observer backlash sandwich model state estimation mechanical systems
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