Observer Design for Unilaterally Constrained Lagrangian Systems: A Passivity-Based Approach

DOI10.1109/TAC.2015.2492098MaRDI QIDQ2980386zbMATH OpenFDO

Authors Aneel Tanwani, B. Brogliato, Christophe Prieur

Publication date 3 May 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/TAC.2015.2492098

Mathematics Subject Classification ID

Lagrange's equations (70H03) Observability (93B07)

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Cited in

(10)

• Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial
• An exact handling of the gradient for overcoming persistent problems in nonlinear observer design via convex optimization techniques
• Optimal parameter selection problem of the state dependent impulsive differential equations
• The minimum time function for the controlled Moreau's sweeping process
• Well-posedness and output regulation for implicit time-varying evolution variational inequalities
• Determinability and state estimation for switched differential-algebraic equations
• Global trajectory tracking of a class of manipulators without velocity measurements in random surroundings
• Dynamical systems coupled with monotone set-valued operators: formalisms, applications, well-posedness, and stability
• Optimal control of the sweeping process with a nonsmooth moving set
• State observers for the time discretization of a class of impulsive mechanical systems

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