In this paper, the sensorless force/position control problem is investigated for a general class of dynamic contact systems with both motion sensor noise and unknown kinetic friction by designing a force observer-based controller. Firstly, in order to suppress the effect of motion sensor noise, a dead-zone extended state observer (ESO) is introduced, and the contact force is estimated. Then, based on the force estimate, a controller is designed to realize force/position tracking control, where the parameters of the observer and controller are obtained by a linear matrix inequality (LMI) method. The sufficient conditions are provided to ensure the stability of the closed-loop system in terms of LMIs. Finally, a numerical simulation is carried out to illustrate the applicability and effectiveness of the proposed method.

中文翻译：

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用于动态接触系统的基于死区 ESO 的无传感器力/位置控制

在本文中，通过设计基于力观测器的控制器，研究了一类具有运动传感器噪声和未知动摩擦的一般动态接触系统的无传感器力/位置控制问题。首先，为了抑制运动传感器噪声的影响，引入了死区扩展状态观测器（ESO），并估计了接触力。然后，基于力估计，设计控制器实现力/位置跟踪控制，其中观测器和控制器的参数通过线性矩阵不等式（LMI）方法获得。为保证闭环系统在LMI方面的稳定性提供了充分条件。最后，通过数值模拟来说明所提方法的适用性和有效性。