A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems

Authors:
B. Xian;M. S. De Queiroz;D. M. Dawson;M. L. Mcintyre
Affiliations:
Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA;Department of Mechanical Engineering, Louisiana State University, Baton Rouge, LA 70803-6413, USA;Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA;Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA
Venue:
Automatica (Journal of IFAC)
Year:
2004

Citing 2
Cited 2

On the state observation and output feedback problems for nonlinear uncertain dynamic systems

Systems & Control Letters
Nonlinear output-feedback tracking using high-gain observer and variable structure control

Automatica (Journal of IFAC)

Brief paper: A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints

Automatica (Journal of IFAC)
Robust cooperative tracking for multiple non-identical second-order nonlinear systems

Automatica (Journal of IFAC)

Quantified Score

Hi-index	22.15

Visualization

Abstract

In this paper, we develop a new discontinuous output feedback tracking controller for a class of uncertain, nonlinear, multi-input/multi-output, mechanical systems whose dynamics are first-order differentiable. A novel filter design and Lyapunov-type stability analysis are used to prove semi-global asymptotic tracking. As a by-product of the proposed framework, we also present the design of a new simple, discontinuous velocity observer that ensures global asymptotic velocity observation.