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

A. Tanwani, B. Brogliato, C. Prieur
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引用次数: 7

摘要

研究了具有完美单边约束的非线性拉格朗日动力系统中以位置测量作为输出的速度变量估计问题。这种系统的动力学被表述为在速度水平上的测量差分包合物(MDI),它自然地编码了规定碰撞后速度的关系。在系统速度均匀有界的假设下,设计了一个观测器,该观测器也是一个测度微分包含。证明了所提观测器存在唯一解,且解渐近收敛于实际速度。
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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.
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