Global output tracking control of a class of Euler-Lagrange systems with monotonic non-linearities in the velocities

In this paper, we address the problem of output feedback tracking control of a class of Euler-Lagrange systems subject to non-linear dissipative loads. By imposing a monotone damping condition on the non-linearities of the unmeasured states, the common restriction that the non-linearities be globall...

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Bibliographic Details
Published inInternational journal of control Vol. 74; no. 7; pp. 649 - 658
Main Authors Aamo, O. M., Arcak, M., Fossen, T. I., Kokotovic, P. V.
Format Journal Article
LanguageEnglish
Published Taylor & Francis Group 10.05.2001
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Summary:In this paper, we address the problem of output feedback tracking control of a class of Euler-Lagrange systems subject to non-linear dissipative loads. By imposing a monotone damping condition on the non-linearities of the unmeasured states, the common restriction that the non-linearities be globally Lipschitz is removed. The proposed observer-controller scheme renders the origin of the error dynamics uniformly globally asymptotically stable, in the general case. Under certain additional assumptions, the result continue to hold for a simplified control law that is less sensitive to noise and unmodelled phenomena.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207170010026130