Global Tracking Control of One Degree of Freedom Euler-Lagrange Systems without Velocity Measurements
نویسنده
چکیده
The problem of global output feedback tracking control of robot manipulators has been open for several years. In this short note we propose a computed torque plus (nonlinear) PD like controller to solve the output feedback tracking control problem of one degree of freedom (dof) Euler-Lagrange (EL) systems. We prove in this case global asymptotic stability. Our approach is the extension of our previous semi-global result 11]. Even though we can not claim the same result for systems of more than one dof, as far as we know, none of the semi-global solutions present in the literature has been proved to be global even for 1 dof systems.
منابع مشابه
Bounded Output Feedback Tracking Control of Fully-actuated Euler-lagrange Systems
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 ...
متن کاملA New Separation Result for Euler-lagrange-like Systems
This paper presents a separation result for some global stabilization via output feedback of a class of quadratic-like nonlinear systems, under the form of some stabilizability by state feedback on the one hand, and unboundedness observability on the other hand. They allow to design, for any domain of output initial condition, a dynamic output feedback controller achieving global stability. As ...
متن کاملUniform Global Position Feedback Tracking Control of Mechanical Systems
We establish, as far as we know, the first proof of uniform global asymptotic stability for a mechanical system (Euler-Lagrange) in closed loop with a dynamic controller which makes use only of position measurements. The controller is fairly simple, it is reminiscent of the so-called PadenPanja controller [20] where unavailable generalized velocities are replaced by approximate differentiation ...
متن کاملAdaptive-Robust Control of a Class of Nonlinear Systems with Unknown Input Delay
In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive Robust Outer Loop Control (AROLC) is proposed. Compared to the conventional predictor based approaches, the proposed controller is capable of negotiating any inp...
متن کاملDistributed Tracking Algorithms for Multi-Agent Systems to Solve the Leader-Follower Flocking of Lagrange Networks and Dynamic Average Tracking Problem of Second-Order Systems
OF THE DISSERTATION Distributed Tracking Algorithms for Multi-Agent Systems to Solve the Leader-Follower Flocking of Lagrange Networks and Dynamic Average Tracking Problem of Second-Order Systems by Sheida Ghapani Doctor of Philosophy, Graduate Program in Electrical Engineering University of California, Riverside, December 2016 Prof. Wei Ren, Chairperson A multi-agent system is defined as a col...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Eur. J. Control
دوره 2 شماره
صفحات -
تاریخ انتشار 1996