Nonlinear H∞ Measurement Feedback Control of Euler-lagrange Systems
نویسندگان
چکیده
This paper considers the problem of designing explicit measurement feedback H∞ control laws for a class of Euler-Lagrange systems. For these systems the joint positions are assumed as outputs of the system, while velocity measures are to be estimated from an observer+controller structure. The main contribution of this work lies in the explicit formulation of the dynamic structure of a joined observer+controller that guarantees local asymptotic stability as well as attenuation of disturbances according to an H∞ framework. In order to illustrate this methodology, experimental results are shown on a 2 dof gyrostabilized platform. Copyright c ©2005 IFAC.
منابع مشابه
Filename.app = 1025ms00.tex Nonlinear Control Systems: (output Feedback) Design Methods
In this paper we discuss di erent control design methods for nonlinear control systems. We focus our attention on passivity-based control and the feedback linearization approach for solving set-point and tracking control problems. We also consider the case of model and parameter uncertainties. We concentrate on Euler-Lagrange systems which is a fairly wide and illustrative class of nonlinear sy...
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 کاملGlobal Tracking Control of One Degree of Freedom Euler-Lagrange Systems without Velocity Measurements
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 p...
متن کاملOn the Design of Nonlinear Controllers for Euler-Lagrange Systems
The dynamics are studied of nonlinear feedback loops for the set point control of Euler-Lagrange (EL) systems. A class of controllers is considered that possess a linear dynamic component and several nonlinear amplifiers. Frequency domain conditions are presented for nonoscillatory behaviour of the closed loop, by which is meant that for increasing time all bounded solutions converge to one of ...
متن کاملTransition to nonlinear H-inf optimal control from inverse optimal solution for Euler-Lagrange system
One of recent achievements in the field of nonlinear H∞ optimal control theories for Euler-Lagrange systems is the analytic solution to the Hamilton-JacobiIsaccs (HJI) equation associated to the so-called nonlinear H∞ inverse-optimal control [1]. In this paper, we address the problem of nonlinear H∞ optimal control design for an Euler-Lagrange system, rather than the inverse-optimal problem. By...
متن کامل