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}
}

Download the bib file

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