On global output feedback regulation of Euler-Lagrange systems with bounded inputs

On global output feedback regulation of Euler-Lagrange systems with bounded inputs

We identify a class of Euler-Lagrange systems with bounded inputs that can be globally asymptotically stabilized via dynamic output feedback. In particular, we prove that if the system is fully actuated and the forces due to the potential field can be "dominated" by the constrained control...

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Veröffentlicht in:IEEE transactions on automatic control 1997-08, Vol.42 (8), p.1138-1143
Hauptverfasser: Loria, A., Kelly, R., Ortega, R., Santibanez, V.
Format: Artikel
Sprache:eng
Schlagworte:
Applied sciences
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Damping
Exact sciences and technology
Filters
Force control
Nonlinear dynamical systems
Output feedback
Potential energy
Robotics
Robots
Stability
Velocity control
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Beschreibung
Zusammenfassung:We identify a class of Euler-Lagrange systems with bounded inputs that can be globally asymptotically stabilized via dynamic output feedback. In particular, we prove that if the system is fully actuated and the forces due to the potential field can be "dominated" by the constrained control signals, then global output feedback regulation is still possible, incorporating some suitable saturation functions in the controller.
ISSN:0018-9286
1558-2523
DOI:10.1109/9.618243