Bounded output feedback tracking control of fully actuated Euler-Lagrange systems

A. Loria, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

99 Citations (Scopus)

Abstract

In this short note we deal with the problem of trajectory tracking control of fully actuated Euler-Lagrange systems with unmeasurable velocities and bounded control inputs. In order to avoid the use of velocity measurements we introduce a nonlinear dynamic extension for the plant which renders the closed-loop system semi-globally asymptotically stable, hence, we prove that by increasing some of the dynamic extension parameters it is possible to enlarge the domain of attraction and to maintain the control inputs bounded.
Original languageEnglish
Pages (from-to)151-161
JournalSystems and Control Letters
Volume33
Issue number3
DOIs
Publication statusPublished - 1998

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