Output Feedback Self-tuning Wavenet Control for Underactuated Euler-Lagrange Systems

Bounded Output Feedback Tracking Control of Fully-actuated Euler-lagrange Systems

In this short note we deal with the problem of trajectory tracking control of fully actuated Euler-Lagrange systems with unmeasurable velocities and bounded control inputs. In order to avoid the use of velocity measurements we introduce a nonlinear dynamic extension for the plant which renders the closed loop system semi-globally asymptotically stable, hence we prove that by increasing some of ...

Nonlinear H∞ Measurement Feedback Control of Euler-lagrange Systems

This paper considers the problem of designing explicit measurement feedback H∞ control laws for a class of Euler-Lagrange systems. For these systems the joint positions are assumed as outputs of the system, while velocity measures are to be estimated from an observer+controller structure. The main contribution of this work lies in the explicit formulation of the dynamic structure of a joined ob...

Energy Shaping Control for a Class of Underactuated Euler-Lagrange Systems

The paper presents a new energy shaping control design for a class of underactuated Euler-Lagrange systems. Flexible joint robots, Series Elastic Actuators, and Variable Impedance Actuated Robots Albu-Schäffer et al. [2008] belong for example to this class. First, classical PD control with feed-forward compensation is revisited and a novel, straight-forward and general formulation for the stabi...

Underactuated Vehicle Control - Nonlinear Output Feedback Control and Research Plans

Necessary Conditions for Control Effort Minimization of Euler-Lagrange Systems

The L1 norm of the control vector is a suitable measure for the effort needed to control a vehicle, since, in several cases of practical interest, it can provide accurate estimate of the fuel consumption. In this paper, we address the problem of minimizing the weighted sum of the L1 norms of the control vectors of N vehicles moving in formation. Specifically, modeling each agent as a six degree...