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

descriptionPublicationkeyboard_double_arrow_right Article 01 Apr 2004 English Publisher:Elsevier BVJournal:Automatica, volume 40, pages 695-700 (issn: 0005-1098,

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Authors: Bin Xian; Marcio S. de Queiroz; Darren M. Dawson; Michael L. McIntyre;

doi: 10.1016/j.automatica.2003.12.007

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

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Abstract

A discontinuous feedback tracking controller for a nonlinear multi-input/multi-output (MIMO) underactuated mechanical system using the Lyapunov stability technique is studied. The controller parameters are chosen from conditions when the Lyapunov stability theorem is satisfied.

Related Organizations

Louisiana State University
United States
Clemson University
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Keywords

Design techniques (robust design, computer-aided design, etc.), Lyapunov stability technique, underactuated system, discontinuous feedback tracking controller, multi-input/multi-output mechanical system, Control of mechanical systems

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