A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems

DOI10.1016/j.automatica.2003.12.007zbMath1051.93040OpenAlexW2024315375MaRDI QIDQ1433075

Darren M. Dawson, M. L. McIntyre, Bin Xian, Marcio S. De Queiroz

Publication date: 15 June 2004

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2003.12.007

zbMATH Keywords

underactuated systemLyapunov stability techniquediscontinuous feedback tracking controllermulti-input/multi-output mechanical system

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Control of mechanical systems (70Q05)

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Cites Work

• Unnamed Item
• On the state observation and output feedback problems for nonlinear uncertain dynamic systems
• Nonlinear output-feedback tracking using high-gain observer and variable structure control
• State observation of nonlinear uncertain dynamical systems
• Robust control of robotic manipulators without velocity feedback
• Adaptive control of robot manipulators via velocity estimated feedback
• Adaptive output feedback control of robot manipulators using high-gain observer
• Global adaptive output feedback tracking control of robot manipulators
• Sliding mode observer for nonlinear uncertain systems
• Output feedback stabilization using variable structure control
• An adaptive partial state-feedback controller for RLED robot manipulators
• Robot control by using only joint position measurements

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