Model-based state estimation for Euler-Lagrange systems and rigid-body robot control

DOI10.1016/j.automatica.2024.112003MaRDI QIDQ6664818

Rolf Johansson

Publication date: 16 January 2025

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

nonlinear systemsstate estimationasymptotic stabilityKalman filterdynamic output feedbackrobotics

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Cites Work

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• Global regulation of robots using only position measurements
• Observer-based strict positive real (SPR) feedback control system design
• Optimal differentiation based on stochastic signal models
• Robot control via robust estimated state feedback
• An observer for flexible joint robots
• On passivity‐based output feedback global stabilization of euler‐lagrange systems
• A semiglobally stable output feedback PI/sup 2/D regulator for robot manipulators
• Cubature Kalman Filters
• Robot control by using only joint position measurements
• An intrinsic observer for a class of lagrangian systems
• Quadratic optimization of motion coordination and control
• New results in linear filtering and prediction theory

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