State estimation of a compound non-smooth sandwich system with backlash and dead zone

Abstract

In this paper, a novel switching non-smooth observer is proposed to deal with the state estimation of compound non-smooth sandwich system with backlash and dead zone. Based on the characteristic of the system, two separate non-smooth state-space functions are constructed to describe the input–output relationships of backlash. Then, a Luenberger-type non-smooth observer is developed based on the two separate non-smooth state-space functions and the backlash and dead zone input output functions. The observer can switch among the different operating zones automatically in terms of the change of real operation conditions. The observability of the system has been analyzed and the convergence of the switching compound non-smooth observer has been verified. Finally motor servo hydraulic systems which can be represented as a compound non-smooth sandwich system have been studied as an application case. The comparisons between the proposed non-smooth scheme and the conventional method are illustrated. It is demonstrated that the proposed non-smooth approach can achieve much better performance in the aspects of state estimation accuracy and state estimation convergence speed than the conventional one.