{"title":"一类具有完全单边约束的拉格朗日系统的无源观测器设计","authors":"A. Tanwani, B. Brogliato, C. Prieur","doi":"10.1109/CDC.2013.6760393","DOIUrl":null,"url":null,"abstract":"This paper addresses the problem of estimating the velocity variables, using the position measurement as output, in nonlinear Lagrangian dynamical systems with perfect unilateral constraints. The dynamics of such systems are formulated as a measure differential inclusion (MDI) at velocity level which naturally encodes the relations for prescribing the post-impact velocity. Under the assumption that the velocity of the system is uniformly bounded, an observer is designed which is also a measure differential inclusion. It is proved that there exists a unique solution to the proposed observer and that solution converges asymptotically to the actual velocity.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"Passivity-based observer design for a class of Lagrangian systems with perfect unilateral constraints\",\"authors\":\"A. Tanwani, B. Brogliato, C. Prieur\",\"doi\":\"10.1109/CDC.2013.6760393\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper addresses the problem of estimating the velocity variables, using the position measurement as output, in nonlinear Lagrangian dynamical systems with perfect unilateral constraints. The dynamics of such systems are formulated as a measure differential inclusion (MDI) at velocity level which naturally encodes the relations for prescribing the post-impact velocity. Under the assumption that the velocity of the system is uniformly bounded, an observer is designed which is also a measure differential inclusion. It is proved that there exists a unique solution to the proposed observer and that solution converges asymptotically to the actual velocity.\",\"PeriodicalId\":415568,\"journal\":{\"name\":\"52nd IEEE Conference on Decision and Control\",\"volume\":\"7 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"52nd IEEE Conference on Decision and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CDC.2013.6760393\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"52nd IEEE Conference on Decision and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.2013.6760393","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Passivity-based observer design for a class of Lagrangian systems with perfect unilateral constraints
This paper addresses the problem of estimating the velocity variables, using the position measurement as output, in nonlinear Lagrangian dynamical systems with perfect unilateral constraints. The dynamics of such systems are formulated as a measure differential inclusion (MDI) at velocity level which naturally encodes the relations for prescribing the post-impact velocity. Under the assumption that the velocity of the system is uniformly bounded, an observer is designed which is also a measure differential inclusion. It is proved that there exists a unique solution to the proposed observer and that solution converges asymptotically to the actual velocity.