A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems

被引：146
作者：
Xian, B
de Queiroz, MS [1 ]
Dawson, DM
McIntyre, ML
机构：
[1] Louisiana State Univ, Dept Mech Engn, Baton Rouge, LA 70803 USA
[2] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
来源：
AUTOMATICA | 2004年 / 40卷 / 04期
关键词：
nonlinear control; output feedback; mechanical systems; velocity observer;
D O I：
10.1016/j.automatica.2003.12.007
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we develop a new discontinuous output feedback tracking controller for a class of uncertain, nonlinear, multi-input/multi-output, mechanical systems whose dynamics are first-order differentiable. A novel filter design and Lyapunov-type stability analysis are used to prove semi-global asymptotic tracking. As a by-product of the proposed framework, we also present the design of a new simple, discontinuous velocity observer that ensures global asymptotic velocity observation. (C) 2003 Elsevier Ltd. All rights reserved.
引用
收藏
页码：695 / 700
页数：6
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