Robust observation and identification of<i>n</i>DOF Lagrangian systems

Abstract

Abstract A procedure to design a global exponentially stable, second‐order, sliding‐mode observer for n DOF Lagrangian systems is presented. The observer converges to the system state in spite of the existence of bounded disturbances or parameter uncertainties affecting the system dynamics. The generation of sliding modes permits the identification of disturbances using the equivalent output injection which, under some circumstances, can also be used to identify the system parameters via a continuous version of the last‐square method. The proposed methodology is illustrated with some numerical examples and experiments. Copyright © 2006 John Wiley &amp; Sons, Ltd.