A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints
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Publication:985289
DOI10.1016/J.AUTOMATICA.2009.10.027zbMATH Open1213.93090OpenAlexW2169064059MaRDI QIDQ985289FDOQ985289
Authors: Alessandro Astolfi, Romeo Ortega, Aneesh Venkatraman 
Publication date: 20 July 2010
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.automatica.2009.10.027
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Control of mechanical systems (70Q05) Observability (93B07) Control/observation systems governed by partial differential equations (93C20)
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Cited In (32)
- On the equivalence of two nonlinear control approaches: immersion and invariance and IDA-PBC
- Stability of nonlinear teleoperators using PD controllers without velocity measurements
- A robust adaptive velocity observer for mechanical systems transformed in cascade form
- Nonlinear robust sliding mode control of a quadrotor unmanned aerial vehicle based on immersion and invariance method
- Velocity observers for linear mechanical systems subject to single non-smooth impacts
- Linear algebra properties of dissipative Hamiltonian descriptor systems
- Motion measurement of a two-wheeled skateboard and its dynamical simulation
- Output feedback tracking control of stochastic Lagrangian systems and its application
- Globally exponentially convergent velocity observer design for mechanical systems with nonholonomic constraints
- A globally exponentially stable speed observer for a class of mechanical systems: experimental and simulation comparison with high-gain and sliding mode designs
- X-Y pedestal: partial quasi-linearization and cascade-based global output feedback tracking control
- Immersion and invariance disturbance observer-based nonlinear discrete-time control for fully actuated mechanical systems
- Position tracking in delayed bilateral teleoperators without velocity measurements
- A constructive speed observer design for general Euler-Lagrange systems
- Output feedback control for rigid-body attitude with constant disturbances
- An adaptive speed observer for a class of nonlinear mechanical systems: theory and experiments
- Two globally convergent adaptive speed observers for mechanical systems
- Dynamic scaling‐based adaptive control without scaling factor: With application to Euler–Lagrange systems
- Velocity observer design for the consensus in delayed robot networks
- Immersion and invariance adaptive velocity observer for a class of Euler-Lagrange mechanical systems
- Safe operation for teleoperated robotic manipulators with restricted synchronization error via non-singular terminal sliding-mode control
- Immersion and invariance‐based extended state observer design for a class of nonlinear systems
- Dynamic neural network-based robust observers for uncertain nonlinear systems
- On the effects of desired damping matrix and desired Hamiltonian function in the matching equation for port-Hamiltonian systems
- A simple global asymptotic convergent observer for uncertain mechanical systems
- Finite‐time consensus of Euler‐Lagrange agents without velocity measurements via energy shaping
- Immersion and invariance observers with time-delayed output measurements
- A constructive globally convergent adaptive speed observer for port-Hamiltonian mechanical systems with non-holonomic constraints
- Nonlinear adaptive fault-tolerant control for a quadrotor UAV based on immersion and invariance methodology
- On adaptive control of nonlinearly parameterized nonlinear systems: towards a constructive procedure
- Dissipativity based global sliding mode observer for uncertain mechanical systems
- Dissipative approach to sliding mode observers design for uncertain mechanical systems
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