Title :
Observation of Hamiltonian mechanical systems
Author_Institution :
Lab. des Signaux et Syst., Plateau de Moulon, Gif sur Yvette, France
Abstract :
The design of observers plays a key role in control of nonlinear systems. In this paper we consider the problem of nonlinear observers for Hamiltonian mechanical systems whose output is the collection of the generalized coordinates. It is shown that these systems are equivalent to linear time-varying systems after injection of the first derivative of the output. The analysis of the existence of an observer is then based upon the theory of time-varying systems. Two differentiator observers are developed
Keywords :
mechanical variables control; nonlinear control systems; observers; time-varying systems; variable structure systems; Hamiltonian mechanical systems; differentiator observers; first derivative; generalized coordinates; nonlinear system control; observer design; time-varying systems; Control systems; Equations; Kalman filters; Linear systems; Mechanical systems; Observers; Q measurement; State estimation; Symmetric matrices; Time varying systems;
Conference_Titel :
Electronics, Circuits and Systems, 1999. Proceedings of ICECS '99. The 6th IEEE International Conference on
Conference_Location :
Pafos
Print_ISBN :
0-7803-5682-9
DOI :
10.1109/ICECS.1999.813386
