Title :
Output synchronization control of Euler-Lagrange systems with nonlinear damping terms
Author :
Kyrkjebø, Erik ; Petterse, Kristin Y.
Author_Institution :
Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway Erik.Kyrkjebo@itk.ntnu.no
Abstract :
A coordinated synchronization control scheme to synchronize two or more Euler-Lagrange systems with nonlinear damping in a leader-follower configuration is presented. The scheme is based on position measurements only, and no mathematical model of the leader is required. Observers are designed to estimate the velocity and acceleration of the systems, and the scheme yields semi-global ultimately bounded closed-loop errors for the output synchronization problem. The control scheme is valid for systems with nonlinear damping.
Keywords :
Acceleration; Actuators; Control systems; Damping; Marine vehicles; Mathematical model; Nonlinear control systems; Position measurement; Underwater tracking; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1582946
