Results 151 to 160 of about 2,336 (201)
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Virtual Holonomic Constraints for Euler-Lagrange Systems
IFAC Proceedings Volumes, 2010Abstract This paper investigates virtual holonomic constraints for Euler-Lagrange systems with n degrees-of-freedom and n − 1 controls. The constraints have the form q1 = ϕ1 (qn), …, qn – 1 = ϕn ∓ 1 (qn), where qn is a cyclic configuration variable, so their enforcement corresponds to the stabilization of a desired oscillatory motion.
M. Maggiore, CONSOLINI, Luca
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Nonlinear Antiwindup Applied to Euler–Lagrange Systems
IEEE Transactions on Robotics and Automation, 2004In this paper, we propose a nonlinear antiwindup scheme to guarantee stability and local performance recovery on Euler-Lagrange systems subject to input magnitude saturation. The antiwindup scheme consists in a dynamic augmentation to the baseline control system which, based on nonlinear analysis, is shown to induce global asymptotic stability and ...
Morabito, F, Teel, A, ZACCARIAN, LUCA
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On the leader-follower synchronization of Euler-Lagrange systems
2015 54th IEEE Conference on Decision and Control (CDC), 2015In this paper we study the leader-follower synchronization problem of networked uncertain Euler-Lagrange systems under directed interconnection graphs. We first consider the case of ideal communication between agents and present an adaptive distributed control algorithm such that a group of Euler-Lagrange systems asymptotically synchronize their states
Abdelkader Abdessameud +2 more
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Consensus of multiple Euler-Lagrange systems using one Euler-Lagrange System’s velocity measurements
International Journal of Control, Automation and Systems, 2016This brief paper studies the stationary consensus of multiple Euler-Lagrange systems with nonlinear protocols. Two consensus protocols are given to guarantee that positions and velocities of multiple Euler-Lagrange systems reach consensus. Proposed protocols need only the relative position measurements and the velocity measurements of one Euler ...
Shan Cheng +3 more
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1998
It has been argued in the Introduction that a good starting point to develop a practically meaningful nonlinear control theory is to specialize the class of systems under consideration. The main reason being, of course, that the vast array of nonlinear systems renders futile the quest of a monolithic theory applicable for all systems. In particular, it
Romeo Ortega +3 more
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It has been argued in the Introduction that a good starting point to develop a practically meaningful nonlinear control theory is to specialize the class of systems under consideration. The main reason being, of course, that the vast array of nonlinear systems renders futile the quest of a monolithic theory applicable for all systems. In particular, it
Romeo Ortega +3 more
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Trajectory Tracking and Consensus of Networks of Euler—Lagrange Systems
IFAC Proceedings Volumes, 2011This paper addresses the problem of synchronizing networks of nonidentical, nonlinear dynamical systems described by Euler–Lagrange equations. It is assumed that the communication graph is simply connected and that the systems are fully actuated, with their states available for measurement. The communications can be subject to constant time-delays. The
Nuño Ortega, Emmanuel +3 more
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The Agreement of Euler-Lagrange Systems
2011In this chapter, we further extend the passivity approach from point robots to agents modeled as Euler-Lagrange systems. The Euler-Lagrange model is prevalently used to model multi-link robots and encompasses the double integrator model in (2.16) as a special case.
He Bai, Murat Arcak, John Wen
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Linear control of Euler–Lagrange systems
Physics Letters A, 2000Abstract In this Letter, we study linear control of Euler–Lagrange (EL) systems. We prove that there exists a linear proportional-integral-derivative control such that any state of the EL system can be stabilized for any compact set of initial conditions.
Jose Alvarez-Ramirez, Ilse Cervantes
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On nonlinear control of Euler-Lagrange systems: Disturbance attenuation properties
Systems & Control Letters, 1997zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Scherpen, Jacquelien M.A., Ortega, Romeo
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RIEMANNIAN OBSERVERS FOR EULER-LAGRANGE SYSTEMS
IFAC Proceedings Volumes, 2005In this paper, a geometrically intrinsic observer for Euler-Lagrange systems is defined and analysed. This observer is an generalization of the observer recently proposed by Aghannan and Rouchon.
David A. Anisi, Johan Hamberg
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