Title :
A UGAS observer for n-DOF Euler-Lagrange systems
Author :
Borhaug, Even ; Pettersen, Kristin Y.
Author_Institution :
Dept. Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim
Abstract :
In this paper we propose a nonlinear observer for a general class of n-DOF Euler-Lagrange Systems without velocity measurements. In particular, we propose a generalized Luenberger-type observer with globally uniformly asymptotically stable observer error dynamics. The gains of the observer are nonlinear and time-varying, and we control the growth of the gains in order to globally dominate all destabilizing terms in the observer error dynamics
Keywords :
asymptotic stability; error analysis; nonlinear control systems; observers; time-varying systems; velocity measurement; Luenberger-type observer; UGAS observer; asymptotically stable observer error dynamics; n-DOF Euler-Lagrange systems; nonlinear observer; Control systems; Error correction; Manipulators; Mechanical systems; Output feedback; Position measurement; Robots; Stability; 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.2006.1657349
