Title :
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
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;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657512
