Input-to-State Stable Hybrid Momentum Observer for Mechanical Systems
Authors
Joel Ferguson, Naoki Sakata, Kenji Fujimoto
Abstract
This letter examines the dynamic properties of a hybrid momentum observer for mechanical systems, extending the previously-reported results. The observer estimates the momentum vector from measurements of the configuration vector and is shown to be input-to-state stable with respect to external perturbations. In the absence of external perturbation the observer is shown to be globally exponentially stable, converging at a user-controlled rate. The observer is constructed from a port-Hamiltonian representation of mechanical systems and exhibits a passivity property with respect to an input-output port that can be utilised for subsequent control design. The theoretical results are demonstrated via numerical simulation on a 2-link vertical manipulator.
Citation
- Journal: IEEE Control Systems Letters
- Year: 2024
- Volume: 8
- Issue:
- Pages: 1361–1366
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- DOI: 10.1109/lcsys.2024.3410633
BibTeX
@article{Ferguson_2024,
title={{Input-to-State Stable Hybrid Momentum Observer for Mechanical Systems}},
volume={8},
ISSN={2475-1456},
DOI={10.1109/lcsys.2024.3410633},
journal={IEEE Control Systems Letters},
publisher={Institute of Electrical and Electronics Engineers (IEEE)},
author={Ferguson, Joel and Sakata, Naoki and Fujimoto, Kenji},
year={2024},
pages={1361--1366}
}
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