n-DOF欧拉-拉格朗日系统的UGAS观测器

2006 American Control Conference Pub Date : 2006-06-14 DOI:10.1109/ACC.2006.1657349

E. Børhaug, K. Pettersen

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引用次数: 6

摘要

本文提出了一类无速度测量的n-DOF欧拉-拉格朗日系统的非线性观测器。特别地，我们提出了具有全局一致渐近稳定观测器误差动力学的广义luenberger型观测器。观测器的增益是非线性和时变的，为了全局控制观测器误差动力学中的所有不稳定项，我们控制了增益的增长

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A UGAS observer for n-DOF Euler-Lagrange systems

In 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. The gains of the observer are nonlinear and time-varying, and we control the growth of the gains in order to globally dominate all destabilizing terms in the observer error dynamics

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2006 American Control Conference

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