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Global output feedback tracking control for a class of Lagrangian systems

✍ Scribed by Gildas Besançon

Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
181 KB
Volume
36
Category
Article
ISSN
0005-1098

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✦ Synopsis

The problem of global tracking control without velocity measurement of the so-called Euler}Lagrange systems has been paid a lot of attention for the past several years. In this note, a nice property of one-degree-of-freedom Euler}Lagrange systems is highlighted, which in particular allows us to obtain a new solution to the problem of tracking control for this class of systems. The solution is under the form of a linear-like observer-based controller which gives fairly good results, as illustrated in the simulation. The method can be generalized to any system having the same property.

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