An intrinsic observer for a class of lagrangian systems

DOI10.1109/TAC.2003.812778MaRDI QIDQ5266816zbMATHOpenAlexFDO

Authors Nasradine Aghannan, Pierre Rouchon

Publication date 20 June 2017

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

Full work available at URL https://doi.org/10.1109/tac.2003.812778

Mathematics Subject Classification ID

Nonlinear ordinary differential equations and systems (34A34) Control problems involving ordinary differential equations (34H05) Control of mechanical systems (70Q05) Observability (93B07)

Cited in

(30)

• Observer Design for Unilaterally Constrained Lagrangian Systems: A Passivity-Based Approach
• Geometric tracking on \(\mathcal{S}^3\) based on sliding mode control
• An invariant observer for a chemostat model
• A Simple Intrinsic Reduced-Observer for Geodesic Flow $ $
• From local to global asymptotic stabilizability for weakly contractive control systems
• Output feedback control for rigid-body attitude with constant disturbances
• Backstepping controller synthesis and characterizations of incremental stability
• Stability and robustness analysis of nonlinear systems via contraction metrics and SOS programming
• Contraction theory on Riemannian manifolds
• Output regulation for systems on matrix Lie-groups
• A simple global asymptotic convergent observer for uncertain mechanical systems
• Invariant feedback control for the kinematic car on the sphere
• A study on the state and parameter cooperative estimation of nonlinear mechanical systems
• A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints
• Robust observation and identification ofnDOF Lagrangian systems
• Geometrically (Q, S, R)-incremental dissipativity and incremental stability for switched time-varying nonlinear discrete-time systems
• Converse theorems on contraction metrics for an equilibrium
• Contraction analysis of non-linear distributed systems
• On contraction of time-varying port-Hamiltonian systems
• Review on computational methods for Lyapunov functions
• Incremental \(H_\infty\) performance for a class of stochastic switched nonlinear systems
• Exponentially incremental dissipativity for nonlinear stochastic switched systems
• Discrete nonlinear observers for inertial navigation
• Computation and verification of contraction metrics for exponentially stable equilibria
• \(k\)-contraction: theory and applications
• Subgradient algorithm for computing contraction metrics for equilibria
• A constructive globally convergent adaptive speed observer for port-Hamiltonian mechanical systems with non-holonomic constraints
• Review on contraction analysis and computation of contraction metrics
• Model-based state estimation for Euler-Lagrange systems and rigid-body robot control
• The spring paradigm in tracking control of simple mechanical systems

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