Skip to main content

Global output tracking control of a class of Euler-Lagrange systems with monotonic non-linearities in the velocities

Buy Article:

$63.00 plus tax (Refund Policy)

Abstract:

In this paper, we address the problem of output feedback tracking control of a class of Euler-Lagrange systems subject to non-linear dissipative loads. By imposing a monotone damping condition on the non-linearities of the unmeasured states, the common restriction that the non-linearities be globally Lipschitz is removed. The proposed observer-controller scheme renders the origin of the error dynamics uniformly globally asymptotically stable, in the general case. Under certain additional assumptions, the result continue to hold for a simplified control law that is less sensitive to noise and unmodelled phenomena.

Document Type: Research Article

DOI: https://doi.org/10.1080/00207170010026130

Affiliations: 1: Department of Engineering Cybernetics, Norwegian University of Science and Technology, N-7491 Trondheim, Norway 2: Center for Control Engineering and Computation, University of California, Santa Barbara, CA 93106-9560, USA

Publication date: 2001-05-10

More about this publication?
  • Access Key
  • Free content
  • Partial Free content
  • New content
  • Open access content
  • Partial Open access content
  • Subscribed content
  • Partial Subscribed content
  • Free trial content
Cookie Policy
X
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more