State Observer Based on an Accelerometer for an Elastic Joint with Nonlinear Friction

This paper presents a state observer for an elastic joint with nonlinear friction via the information from acceleration sensor. In order to avoid discontinuities, of motor, which includes static, coulomb, and viscous terms, is considered smooth function. addition, it uses sensor obtain about link high uncertainty. The proposed guarantees that estimation error position velocity connected containing stiffness (elasticity) converges zero. shown gain can be designed by LMI (linear matrix inequality) optimization. Finally, verify performance observer, method in this tested experiments on two-inertia system shaft.