Proposal of a Passivity-based Observer for Mechanical Systems and its Application to Sliding Mode Observer Design

Authors

Fumiya Aono, Naoki Sakata, Kenji Fujimoto, Ichiro Maruta

Abstract

This paper proposes a novel passivity-based full-order observer for mechanical port-Hamiltonian (pH) systems. We demonstrate its applicability in designing second-order sliding mode observers. Observer design can be broadly categorized into two types: minimal-order and full-order observers. While minimal-order observers prioritize reducing complexity, full-order observers provide greater design flexibility, enabling the realization of various observer structures to meet specific requirements. For mechanical pH systems, this work proposes a full-order observer, where the dynamics of the estimation error between the observer states and the plant states are represented as a Hamiltonian system. This design offers significant flexibility, facilitating the implementation of diverse observer types. Notably, this flexibility allows us to design an observer with estimation error dynamics achieving second-order sliding mode behavior and finite-time convergence. The effectiveness of the proposed method is demonstrated through a numerical example.

Citation

• Journal: Transactions of the Institute of Systems, Control and Information Engineers
• Year: 2025
• Volume: 38
• Issue: 10
• Pages: 208–215
• Publisher: The Institute of Systems, Control and Information Engineers
• DOI: 10.5687/iscie.38.208

BibTeX

@article{Aono_2025,
  title={{Proposal of a Passivity-based Observer for Mechanical Systems and its Application to Sliding Mode Observer Design}},
  volume={38},
  ISSN={2185-811X},
  DOI={10.5687/iscie.38.208},
  number={10},
  journal={Transactions of the Institute of Systems, Control and Information Engineers},
  publisher={The Institute of Systems, Control and Information Engineers},
  author={Aono, Fumiya and Sakata, Naoki and Fujimoto, Kenji and Maruta, Ichiro},
  year={2025},
  pages={208--215}
}

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