Bounded output feedback tracking control of fully actuated Euler–Lagrange systems

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Loria, Antonio and Nijmeijer, Henk (1998) Bounded output feedback tracking control of fully actuated Euler–Lagrange systems. Systems & Control Letters, 33 (3). pp. 151-161. ISSN 0167-6911

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Abstract:In this short note we deal with the problem of trajectory tracking control of fully actuated Euler–Lagrange systems with unmeasurable velocities and bounded control inputs. In order to avoid the use of velocity measurements we introduce a nonlinear dynamic extension for the plant which renders the closed-loop system semi-globally asymptotically stable, hence, we prove that by increasing some of the dynamic extension parameters it is possible to enlarge the domain of attraction and to maintain the control inputs bounded.
Item Type:Article
Copyright:© 1998 Elsevier
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/73631
Official URL:http://dx.doi.org/10.1016/S0167-6911(97)80170-3
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