A Constructive Globally Convergent Adaptive Speed Observer For Port‐Hamiltonian Mechanical Systems with Non‐Holonomic Constraints

DOI10.1002/asjc.1794zbMath1422.93073OpenAlexW2800736343MaRDI QIDQ5194913

Madjid Kidouche, Ammar Touati Brahim

Publication date: 17 September 2019

Published in: Asian Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/asjc.1794

zbMATH Keywords

mechanical systemadaptive observerfriction forcesimmersion and invarianceunknown disturbances

Mathematics Subject Classification ID

Control/observation systems governed by partial differential equations (93C20) Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Control of mechanical systems (70Q05)

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Globally exponentially convergent velocity observer design for mechanical systems with nonholonomic constraints

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