Title :
On output feedback tracking control with disturbance attenuation for Euler-Lagrange systems
Author :
Besancon, Gildas ; Battilotti, Stefano ; Lanari, Leonardo
Author_Institution :
Dipt. di Inf. e Sistemistica, Rome Univ., Italy
Abstract :
A solution to the problem of global tracking control with disturbance attenuation of robot systems described by Euler-Lagrange equations has been presented by Battilotti et al. (1997) by full state feedback. In this paper, we show how recent results of Zhang et al. (1997) can be used to solve the same problem for so-called “Euler-Lagrange systems” without velocity measurement, which is of much interest for robot applications
Keywords :
adaptive control; asymptotic stability; closed loop systems; robot dynamics; state feedback; tracking; Euler-Lagrange systems; adaptive control; asymptotic stability; closed loop systems; disturbance attenuation; output feedback; robots; state feedback; tracking control; Attenuation; Control systems; Equations; Force control; Manipulators; Output feedback; Postal services; Robot control; Stability; State feedback;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.757997
