A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems

作者：Xian B; de Queiroz MS^*; Dawson DM; McIntyre ML

来源：Automatica, 2004, 40(4): 695-700.

DOI：10.1016/j.automatica.2003.12.007

• nonlinear control
• output feedback
• mechanical systems
• velocity observer

In this paper, we develop a new discontinuous output feedback tracking controller for a class of uncertain, nonlinear, multi-input/multi-output, mechanical systems whose dynamics are first-order differentiable. A novel filter design and Lyapunov-type stability analysis are used to prove semi-global asymptotic tracking. As a by-product of the proposed framework, we also present the design of a new simple, discontinuous velocity observer that ensures global asymptotic velocity observation.

• 出版日期2004-4