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A UGAS observer for n-DOF Euler-Lagrange systems
2006 American Control Conference, 2006In this paper we propose a nonlinear observer for a general class of n-DOF Euler-Lagrange Systems without velocity measurements. In particular, we propose a generalized Luenberger-type observer with globally uniformly asymptotically stable observer error dynamics.
Even Børhaug +1 more
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Distributed coordinated tracking for multiple Euler-Lagrange systems
49th IEEE Conference on Decision and Control (CDC), 2010In this paper we study a distributed coordinated tracking problem for networked Euler-Lagrange systems. The objective is for a team of followers modeled by Euler-Lagrange equations to track a leader under the constraints that the leader is a neighbor of only a subset of the followers and the followers have only local interaction. We consider two cases:
Jie Mei 0002, Wei Ren 0001, Guangfu Ma
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Distributed Average Tracking of Networked Euler-Lagrange Systems
IEEE Transactions on Automatic Control, 2015Under an extended proportional-integral (PI) control scheme, a new class of distributed average tracking (DAT) algorithms has been developed for three different kinds of references: references with steady states, references with bounded derivatives, and references with a common derivative.
Fei Chen 0008 +3 more
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Practical output regulation of uncertain Euler–Lagrange systems
Journal of the Franklin InstitutezbMATH Open Web Interface contents unavailable due to conflicting licenses.
Eduardo Scheffer Saraiva +3 more
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Saturated RISE feedback control for Euler-Lagrange systems
2012 American Control Conference (ACC), 2012This paper examines saturated control of a class of uncertain, nonlinear Euler-Lagrange systems which includes time-varying and nonlinearly parametrized functions with bounded disturbances using a continuous control law utilizing smooth saturation functions. The bounds on the control are known a priori and can be adjusted by changing the feedback gains.
Nicholas R. Fischer +2 more
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Results on anti-windup design for Euler-Lagrange systems
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2003In this paper we summarize the anti-windup construction suggested by Teel et al. (1997) for Euler-Lagrange systems and apply it to a SCARA robot controlled by a windup-prone decoupling PID controller. It is shown through simulation that the anti-windup design guarantees the local decoupled linear performance in. addition to global set-point tracking.
Federico Morabito +2 more
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Distributed Coordination of Multiple Unknown Euler-Lagrange Systems
IEEE Transactions on Control of Network Systems, 2018A robust consensus tracking problem is addressed for multiple unknown Euler-Lagrange systems where only a subset of the agents is informed of the desired time-varying trajectory. Challenging unstructured uncertainties, including unknown nonlinear dynamics and disturbances, are considered in the agent dynamics. A model-free, identifier-based, continuous,
Zhi Feng +4 more
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A constructive speed observer design for general Euler–Lagrange systems
Automatica, 2011zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Øyvind Nistad Stamnes +2 more
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Control of contact problem in constrained Euler-Lagrange systems
IEEE Transactions on Automatic Control, 2001A control system (described by Euler-Lagrange equations) with a single unilateral constraint is considered. Assuming that the constraint surface is rigid and frictionless, the dynamics of the contact problem is described by a system of nonsmooth ordinary differential equations depending on whether the system lies on the constraint surface or the system
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RISE-based prescribed performance control of Euler–Lagrange systems
Journal of the Franklin Institute, 2019zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Hamed Jabbari Asl +2 more
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