DocumentCode
1492071
Title
On global output feedback regulation of Euler-Lagrange systems with bounded inputs
Author
Loría, Antonio ; Kelly, Rafael ; Ortega, Romeo ; Santibáñez, Victor
Author_Institution
Div. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Volume
42
Issue
8
fYear
1997
fDate
8/1/1997 12:00:00 AM
Firstpage
1138
Lastpage
1143
Abstract
We identify a class of Euler-Lagrange systems with bounded inputs that can be globally asymptotically stabilized via dynamic output feedback. In particular, we prove that if the system is fully actuated and the forces due to the potential field can be “dominated” by the constrained control signals, then global output feedback regulation is still possible, incorporating some suitable saturation functions in the controller
Keywords
asymptotic stability; feedback; Euler-Lagrange systems; bounded inputs; constrained control signals; dynamic output feedback; global asymptotic stabilization; global output feedback regulation; potential field; saturation functions; Control systems; Damping; Filters; Force control; Nonlinear dynamical systems; Output feedback; Potential energy; Robots; Stability; Velocity control;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.618243
Filename
618243
Link To Document