A solution to the problem of global tracking control with disturbance attenuation of robot systems described by Euler-Lagrange equations has been presented by Battilotti et al. (1997) by full state feedback. In this paper, we show how recent results of Zhang et al. (1997) can be used to solve the same problem for so-called “Euler-Lagrange systems” without velocity measurement, which is of much interest for robot applications
On output feedback tracking control with disturbance attenuation for Euler-Lagrange systems / Gildas, Besancon; Battilotti, Stefano; Lanari, Leonardo. - STAMPA. - 3:(1998), pp. 3139-3143. (Intervento presentato al convegno Proceedings of the 1998 37th IEEE Conference on Decision and Control tenutosi a Tampa, FL (USA) nel 16 December 1998 through 18 December 1998) [10.1109/cdc.1998.757997].
On output feedback tracking control with disturbance attenuation for Euler-Lagrange systems
BATTILOTTI, Stefano
;LANARI, Leonardo
1998
Abstract
A solution to the problem of global tracking control with disturbance attenuation of robot systems described by Euler-Lagrange equations has been presented by Battilotti et al. (1997) by full state feedback. In this paper, we show how recent results of Zhang et al. (1997) can be used to solve the same problem for so-called “Euler-Lagrange systems” without velocity measurement, which is of much interest for robot applicationsI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.