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

Authors
Journal
Automatica
0005-1098
Publisher
Elsevier
Publication Date
Volume
40
Issue
4
Identifiers
DOI: 10.1016/j.automatica.2003.12.007
Keywords
  • Nonlinear Control
  • Output Feedback
  • Mechanical Systems
  • Velocity Observer
Disciplines
  • Design

Abstract

Abstract 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.

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