DocumentCode
2292628
Title
A UGAS observer for n-DOF Euler-Lagrange systems
Author
Borhaug, Even ; Pettersen, Kristin Y.
Author_Institution
Dept. Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim
fYear
2006
fDate
14-16 June 2006
Abstract
In this paper we propose a nonlinear observer for a general class of n-DOF Euler-Lagrange Systems without velocity measurements. In particular, we propose a generalized Luenberger-type observer with globally uniformly asymptotically stable observer error dynamics. The gains of the observer are nonlinear and time-varying, and we control the growth of the gains in order to globally dominate all destabilizing terms in the observer error dynamics
Keywords
asymptotic stability; error analysis; nonlinear control systems; observers; time-varying systems; velocity measurement; Luenberger-type observer; UGAS observer; asymptotically stable observer error dynamics; n-DOF Euler-Lagrange systems; nonlinear observer; Control systems; Error correction; Manipulators; Mechanical systems; Output feedback; Position measurement; Robots; Stability; Velocity control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2006
Conference_Location
Minneapolis, MN
Print_ISBN
1-4244-0209-3
Electronic_ISBN
1-4244-0209-3
Type
conf
DOI
10.1109/ACC.2006.1657349
Filename
1657349
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