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

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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


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

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