Global output feedback PID control for n-DOF Euler-Lagrange systems

Author

Børhaug, Even ; Pettersen, Kristin Y.

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim

fYear

2006

fDate

14-16 June 2006

Abstract

This paper presents an observer-controller strategy for global output feedback PID control for a general class of n-DOF Euler-Lagrange systems. In particular, we propose a nonlinear observer with UGES observer error dynamics and synthesize a stabilizing tracking controller with integral action using integrator backstepping. The overall observer-controller scheme is proven UGES using nonlinear cascaded systems theory

Keywords

cascade control; control system synthesis; feedback; nonlinear control systems; observers; three-term control; PID Control; global output feedback; integrator backstepping; n-DOF Euler-Lagrange system; nonlinear cascaded systems theory; nonlinear observer; observer error dynamics; observer-controller scheme; stabilizing tracking controller; uniformly globally exponentially stable controller; Control systems; Damping; Filters; Output feedback; Position measurement; Robots; Stability; Three-term control; 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.2006.1657512

Filename

1657512

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2295550