Tracking Electromechanical Systems Design with Sensorless Manipulators

For an all-wheel drive electromechanical system, a discontinuous control law has been developed within the framework of the block approach. It provides tracking of given signals of generalized coordinates and invariance with respect to external and parametric disturbances. For the case when the sensors are located only on the drives, a dual-circuit information system is design. It includes two observers with piecewise linear corrective actions for estimating generalized coordinates and mixed variables necessary for feedback design.