Riemannian Observers for Euler-Lagrange Systems
2005 (English)In: Proceedings of the 16th IFAC World Congress: Prague, Czech Republic, July 3-8, 2005, 2005, 115-120 p.Conference paper (Refereed)
In this paper, a geometrically intrinsic observer for Euler-Lagrange systems is defined and analysed. This observer is an generalization of the observer recently proposed by Aghannan and Rouchon. Their contractivity result is reproduced and complemented by a proof that the region of contractivity is infinitely thin. However, assuming a priori bounds on the velocities, convergence of the observer is shown by means of Lyapunov's direct method in the case of configuration manifolds with constant curvature. The convergence properties of the observer are illustrated by an example where the configuration manifold is the three-dimensional sphere, S3.
Place, publisher, year, edition, pages
2005. 115-120 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 16
Contraction, Differential geometric methods, Euler-lagrange systems, Intrinsic observers, Nonlinear observers, Nonlinear systems theory
IdentifiersURN: urn:nbn:se:kth:diva-6267ScopusID: 2-s2.0-79960723494ISBN: 008045108XISBN: 9780080451084OAI: oai:DiVA.org:kth-6267DiVA: diva2:10937
16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005; Prague; Czech Republic; 3 July 2005 through 8 July 2005
QC 20100622. Updated from manuscript to conference paper.2006-10-152006-10-152014-11-27Bibliographically approved