Tracking observer/controller for a relatively large class of systems with hysteresis and without velocity measurement

DOI10.1016/J.SYSCONLE.2008.07.006MaRDI QIDQ999828zbMATHOpenAlexFDO

Authors Brian J. Driessen, Shilpa Kondreddi

Publication date 10 February 2009

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.sysconle.2008.07.006

zbMATH Keywords

asymptotic trackingvelocity observeractuatorshysteresis observernonlinear controls

Mathematics Subject Classification ID

Controllability (93B05) Observability (93B07) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15)

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Cites work

• A new model for control of systems with friction
• An adaptive friction compensator for global tracking in robot manipulators
• Global stabilizability and observability imply semi-global stabilizability by output feedback

Cited in

(4)

• A novel ESMF-based observer and control scheme for a type of tendon-sheath hysteresis system
• Globally exponential controller/observer for tracking in robots without velocity measurement
• Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement
• Precise tracking control of piezoelectric actuators based on a hysteresis observer

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