Triangular form for Euler-Lagrange systems with application to the global output tracking control

DOI10.1007/S11071-009-9582-0zbMATH Open1189.70129OpenAlexW2029907611MaRDI QIDQ979367FDOQ979367

J. Martínez

Publication date: 28 June 2010

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-009-9582-0

Recommendations

• Generalized coordinate-free triangular form: global controllability and feedback triangulation
• Global stabilization by output dynamic feedback for triangular systems
• On the triangular canonical form for uniformly observable controlled systems
• Global output tracking control of a class of Euler-Lagrange systems with monotonic non-linearities in the velocities
• Multi-input control-affine systems static feedback equivalent to a triangular form and their flatness
• A New Approach to Global Asymptotic Tracking for a Class of Low-Triangular Nonlinear Systems via Output Feedback
• On global output feedback regulation of Euler-Lagrange systems with bounded inputs
• Bounded output feedback tracking control of fully actuated Euler-Lagrange systems
• On global controllability of affine nonlinear systems with a triangular-like structure
• On geometric properties of triangularizations for nonlinear control systems

zbMATH Keywords

Euler-Lagrange systemsoutput tracking controltriangular formtwo link drive manipulator

Mathematics Subject Classification ID

Lagrange's equations (70H03) Control of mechanical systems (70Q05) Feedback control (93B52)

Cites Work

• Output feedback control of a class of nonlinear systems: a nonseparation principle paradigm
• A new separation result for a class of quadratic-like systems with application to Euler-Lagrange models
• Global asymptotic output feedback stabilization of feedforward systems
• Title not available (Why is that?)
• Theory of robot control
• Adaptive motion control of rigid robots: A tutorial
• Global tracking control of one degree of freedom Euler-Lagrange systems without velocity measurements
• Global output-feedback tracking for a benchmark nonlinear system
• New class of control laws for robotic manipulators Part 1. Non–adaptive case
• Strict Lyapunov functions for control of robot manipulators
• Title not available (Why is that?)
• Observer and global output feedback stabilisation for some mechanical systems

Cited In (9)

• Global output tracking control of a class of Euler-Lagrange systems with monotonic non-linearities in the velocities
• Distributed adaptive tracking backstepping control in networked nonidentical Lagrange systems
• Output feedback controller for trajectory tracking of robot manipulators without velocity measurements nor observers
• X-Y pedestal: partial quasi-linearization and cascade-based global output feedback tracking control
• On the robust practical global stability of nonlinear time-varying systems
• Global trajectory tracking of a class of manipulators without velocity measurements in random surroundings
• Adaptive practical output tracking control for a class of uncertain nonlinear systems
• Sampled‐data robust practical tracking of Euler‐Lagrange systems with an uncertain exosystem
• Stability of nonlinear time-varying perturbed differential equations

This page was built for publication: Triangular form for Euler-Lagrange systems with application to the global output tracking control

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q979367)