Bounded output feedback tracking control of fully actuated Euler-Lagrange systems |
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Authors: | Antonio Loria Henk Nijmeijer |
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Affiliation: | Faculty of Applied Mathematics, University of Twente, P.O. Box 217, 7500 AE Enschede, Netherlands |
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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. |
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Keywords: | Euler-Lagrange systems Bounded output feedback control Tracking Rigid joint robots |
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