Paper Info
Title
Global output feedback PID control for n-DOF Euler-Lagrange systems
Abstract
This paper presents an observer-controller strategy for global output feedback PID control for a general class of n-DOF Euler-Lagrange systems. In particular, we propose a nonlinear observer with UGES observer error dynamics and synthesize a stabilizing tracking controller with integral action using integrator backstepping. The overall observer-controller scheme is proven UGES using nonlinear cascaded systems theory
Year
DOI
Venue
2006
10.1109/ACC.2006.1657512
Minneapolis, MN
Keywords
DocType
Volume
cascade control,control system synthesis,feedback,nonlinear control systems,observers,three-term control,pid control,global output feedback,integrator backstepping,n-dof euler-lagrange system,nonlinear cascaded systems theory,nonlinear observer,observer error dynamics,observer-controller scheme,stabilizing tracking controller,uniformly globally exponentially stable controller,stability,robots,proportional control,control systems,nonlinear systems,damping,system theory
Conference
1-12
ISSN
ISBN
Citations 
0743-1619
1-4244-0210-7
4
PageRank 
References 
Authors
0.58
6
2
Name
Order
Citations
PageRank
Even Børhaug1667.97
Kristin Ytterstad Pettersen233433.32