Authors

José Guadalupe Romero, Romeo Ortega

Abstract

A solution to the problem of global exponential tracking without velocity measurement of mechanical systems with friction and possibly unbounded inertia matrix is given in the paper. The proposed controller is obtained combining a new full-information passivity-based controller with a new immersion and invariance observer. The resulting closed-loop system has, in some suitably defined coordinates, a port-Hamiltonian structure with a desired energy function and a uniformly positive definite damping matrix. In this way, global exponential tracking of position and velocity for all desired reference trajectories is ensured.

Keywords

mechanical systems, observers, output-feedback tracking, stabilization

Citation

  • Journal: IFAC Proceedings Volumes
  • Year: 2013
  • Volume: 46
  • Issue: 23
  • Pages: 371–376
  • Publisher: Elsevier BV
  • DOI: 10.3182/20130904-3-fr-2041.00174
  • Note: 9th IFAC Symposium on Nonlinear Control Systems

BibTeX

@article{Romero_2013,
  title={{A Globally Exponentially Stable Tracking Controller for Mechanical Systems with Friction Using Position Feedback}},
  volume={46},
  ISSN={1474-6670},
  DOI={10.3182/20130904-3-fr-2041.00174},
  number={23},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Romero, José Guadalupe and Ortega, Romeo},
  year={2013},
  pages={371--376}
}

Download the bib file

References

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  • Astolfi A, Karagiannis D, Ortega R (2008) Nonlinear and Adaptive Control with Applications. Springer Londo – 10.1007/978-1-84800-066-7
  • Liu X, Ortega R, Su H, Chu J (2011) On adaptive control of nonlinearly parameterized nonlinear systems: Towards a constructive procedure. Systems & Control Letters 60(1):36–43. https://doi.org/10.1016/j.sysconle.2010.10.00 – 10.1016/j.sysconle.2010.10.004
  • Ortega R, Loría A, Nicklasson PJ, Sira-Ramírez H (1998) Passivity-based Control of Euler-Lagrange Systems. Springer Londo – 10.1007/978-1-4471-3603-3
  • Romero JG, Donaire A, Ortega R (2012) Simplifying Robust Energy Shaping Controllers for Mechanical Systems via Coordinate Changes. IFAC Proceedings Volumes 45(19):60–65. https://doi.org/10.3182/20120829-3-it-4022.0004 – 10.3182/20120829-3-it-4022.00045
  • Venkatraman A, Ortega R, Sarras I, van der Schaft A (2010) Speed Observation and Position Feedback Stabilization of Partially Linearizable Mechanical Systems. IEEE Trans Automat Contr 55(5):1059–1074. https://doi.org/10.1109/tac.2010.204201 – 10.1109/tac.2010.2042010
  • {“status”:”error” – 10.1109/9.863607