Nonlinear observers in closed-loop trajectory tracking

Author

Garcia, Rafael A. ; D´Attellis, C.E.

Author_Institution

Dept. de Matematica, Buenos Aires Univ., Argentina

Volume

3

fYear

1994

fDate

5-9 Sep 1994

Firstpage

1767

Abstract

One of the difficulties for the application of geometric control methods in control engineering is that, in general, the full state has to be measured. In this paper we design a nonlinear-observer in order to estimate the states variables to be used in the control loop. The control problem we deal with is the trajectory tracking for general nonlinear (smooth) systems of the type x˙=f(x,u), y=h(x), and the nonlinear observer presented has the following characteristics: (1) the speed of convergence is adjustable; (2) the closed-loop control for trajectory tracking-with the observer in the loop-is stable. An application to a robot manipulator is included

Keywords

closed loop systems; convergence; geometry; nonlinear control systems; observers; closed-loop control; closed-loop trajectory tracking; control engineering; convergence; geometric control; nonlinear observers; robot manipulator; stability; Control engineering; Control systems; Convergence; Manipulators; Nonlinear control systems; Observers; Robots; State estimation; Tracking loops; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on

Conference_Location

Bologna

Print_ISBN

0-7803-1328-3

Type

conf

DOI

10.1109/IECON.1994.398082

Filename

398082