Observer design for euler lagrange systems: application to path following control of an underactuated surface vessel

Author

Ghommam, Jawhar ; Mnif, Faïçal ; Benali, Abderraouf ; Poisson, Gérard

Author_Institution

Ecole Nat. d´´Ingenieurs de Sfax, Sfax

fYear

2007

fDate

Oct. 29 2007-Nov. 2 2007

Firstpage

2883

Lastpage

2888

Abstract

This paper presents a practical method to design an output feedback controller for a general mechanical system described by Euler Lagrange equations. An application of such an observer is formulated to path following controller for an underactuated surface vessel moving in a horizontal plan. The surface vessel is underactuated in the sway direction and has only position and orientation measurement available. The control development is based on Lyapunov direct method and backstepping technique.

Keywords

Lyapunov methods; actuators; control system synthesis; feedback; position control; ships; Euler Lagrange equation; Lyapunov direct method; backstepping technique; observer design; orientation measurement; output feedback controller design; path following control; position measurement; underactuated ship; underactuated surface vessel control; Backstepping; Control systems; Equations; Lagrangian functions; Lyapunov method; Mechanical systems; Mobile robots; Output feedback; Position measurement; Stability; Euler Lagrange systems; Lyapunov; Nonlinear observer; Underactuated surface vessel; backstepping technique; direct method;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on

Conference_Location

San Diego, CA

Print_ISBN

978-1-4244-0912-9

Electronic_ISBN

978-1-4244-0912-9

Type

conf

DOI

10.1109/IROS.2007.4399442

Filename

4399442