Global output tracking control of a class of Euler-Lagrange systems

We address the problem of output feedback tracking control of a class of Euler-Lagrange systems subject to nonlinear dissipative loads. By imposing a monotone damping condition on the nonlinearities of the unmeasured states, the common restriction that the nonlinearities be globally Lipschitz is rem...

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Bibliographic Details
Published inProceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187) Vol. 3; pp. 2478 - 2483 vol.3
Main Authors Aamo, O.M., Arcak, M., Fossen, T.I., Kokotovic, P.V.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2000
Subjects
Control systems
Damping
Linear systems
Marine vehicles
Nonlinear control systems
Nonlinear systems
Output feedback
Stability
Symmetric matrices
System testing
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Summary:We address the problem of output feedback tracking control of a class of Euler-Lagrange systems subject to nonlinear dissipative loads. By imposing a monotone damping condition on the nonlinearities of the unmeasured states, the common restriction that the nonlinearities be globally Lipschitz is removed. The proposed observer-controller scheme renders the origin of the error dynamics uniformly globally asymptotically stable.
ISBN:0780366387
9780780366381
ISSN:0191-2216
DOI:10.1109/CDC.2000.914174