Robustness property of high-gain observers for closed-loop nonlinear systems: Theoretical study and robotics control application

International Journal of Systems Science

Volumn 31, Issue 12, 2000, Pages 1519-1529

  Guerra, Rafael Martinez ^a   Poznyak, Alexander ^a   De Leon, Vicente Diaz ^a  

^a DEPARTAMENTO DE FÍSICA   (Mexico)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; FEEDBACK; PERTURBATION TECHNIQUES; ROBUSTNESS (CONTROL SYSTEMS); SPURIOUS SIGNAL NOISE;

CLOSED-LOOP NONLINEAR SYSTEMS;

NONLINEAR SYSTEMS;

EID: 0034588704     PISSN: 00207721     EISSN: None     Source Type: Journal    
DOI: 10.1080/00207720050217296     Document Type: Article

References (28)

1. Albert, A., 1972, Regression and the Moore-Penrose Pseudoinverse (New York: Academic Press).
2. Berghuis, H., and Nijmeijker, H., 1992, Observer design in the tracking control problem for robots. Proceedings of the IFAC Symposium on NOLCOS, Bordeaux, France, 1992, pp. 558-593; 1993a, Robust control of robots using only position measurements. Proceedings of the IFAC World Congress, Vol. 1, Sydney, Australia, 1993, pp. 501-506; 1993b. A passivity approach to controller-observer design for Robots, IEEE Transactions on Robotics and Automation, 9, 740-754.
3. Berghuis, H., and Nijmeijker, H., 1992, Observer design in the tracking control problem for robots. Proceedings of the IFAC Symposium on NOLCOS, Bordeaux, France, 1992, pp. 558-593; 1993a, Robust control of robots using only position measurements. Proceedings of the IFAC World Congress, Vol. 1, Sydney, Australia, 1993, pp. 501-506; 1993b. A passivity approach to controller-observer design for Robots, IEEE Transactions on Robotics and Automation, 9, 740-754.
4. Berghuis, H., and Nijmeijker H., 1992, Observer design in the tracking control problem for robots. Proceedings of the IFAC Symposium on NOLCOS, Bordeaux, France, 1992, pp. 558-593; 1993a, Robust control of robots using only position measurements. Proceedings of the IFAC World Congress, Vol. 1, Sydney, Australia, 1993, pp. 501-506; 1993b. A passivity approach to controller-observer design for Robots, IEEE Transactions on Robotics and Automation, 9, 740-754.
5. Brian, Armstrong-Helouvry, Dupont, P., and Canudas De Wit, C., 1994, Survey of models, analysis tools and compensation methods for the control of machines with friction, Automatics, 30, 1083-1138.
6. Canudas De Wit, C., and Fixot, N., 1991 a, Robot control via robust estimated state feedback. IEEE Transactions on Automatic Control, 36, 1497-1501.
7. Canudas De Wit C., and Slotine, J.J.E., 1991b, Sliding observers for robot manipulators. Automatics, 27, 859-864.
8. Canudas De Wit C., Fixot, N., and Astrom, K.J., 1992, Trajectory tracking in robot manipulators via nonlinear estimated state feedback, IEEE Transactions on Automatic Control, 8, 138-144.
9. Coddington, E.A., and Levinson, N., 1984, Theory of Ordinary Differential Equations (New York: Krieger).
10. Craig, J.J., Hsu, P., and Sastry, S.S., 1986 Adaptive control of mechanical manipulators. Proceedings of the IEEE International Conference on Robotics and Automation, (New York: IEEE), pp. 190-205.
11. Dayawansa, W.P., Martin, C.F., and Knowles, G., 1990, A global nonlinear tracking problem, Proceedings of the 29th. IEEE Conference on Decision and Control, Honolulu, Hawaii, USA, 1990 (New York: IEEE), pp. 1268-1271.
12. Esfandiari, 1992, Output feedback stabilization of fully linearizable systems, International Journal of Control, 56, 1007-1037.
13. Filipov, A.F., 1988, Differential Equations with Discontinuous Right-hand Sides (Dordrecht: Kluwer).
14. Gantmacher, F.R., 1970, Lectures in Analytical Mechanics Moscow: Mir.
15. Gauthier, J.P., Hammouri, H., and Othnman, S., 1992, A simple observer for nonlinear systems, application to bioreactors. IEEE Transactions on Automatic Control, 37, 875-880.
16. Gortcheva, E., Poznyak, A., and Diaz De Leon, V., 1998. On nonlinear robust control for robot manipulator with unknown friction. Proceedings of the 37th IEEE Conference on Decision and Control, Vol. 3, 1998 (New York: IEEE), pp. 2019-2020.
17. Isidori, A., 1991, Nonlinear Control Systems, third edition (New York: Springer-Verlar).
18. Jing, Y., and Stepanenko, Y., 1991, Robust control of robotic manipulators without velocity feedback, International Journal of Robust and Nonlinear Control, 1, 203-213.
19. Lim, S.Y., Dawson, D.M., and Anderson, K., 1996, Re-examining the Nicosia-Tomei robot observer-controller from a back-stepping perspective, IEEE Transactions on Automatic Control, 4, 304-310.
20. Martinez-Guerra, R., and De Leon-Morales, J., 1994, Observers for a multi-input multi-output bilinear systems class: a differential algebraic approach, Journal of Mathematical and Computer Modelling, 20, 125-132; 1996a, Nonlinear estimators: a differential algebraic approach, Applied Mathematics Letters, 9, 21-25; 1996b, Observer based tracking of bilinear Systems: a differential algebraic approach, Applied Mathematics Letters, 9, 51-57.
21. Martinez-Guerra, R., and De Leon-Morales, J., 1994, Observers for a multi-input multi-output bilinear systems class: a differential algebraic approach, Journal of Mathematical and Computer Modelling, 20, 125-132; 1996a, Nonlinear estimators: a differential algebraic approach, Applied Mathematics Letters, 9, 21-25; 1996b, Observer based tracking of bilinear Systems: a differential algebraic approach, Applied Mathematics Letters, 9, 51-57.
22. Martinez-Guerra, R., and De Leon-Morales, J., 1994, Observers for a multi-input multi-output bilinear systems class: a differential algebraic approach, Journal of Mathematical and Computer Modelling, 20, 125-132; 1996a, Nonlinear estimators: a differential algebraic approach, Applied Mathematics Letters, 9, 21-25; 1996b, Observer based tracking of bilinear Systems: a differential algebraic approach, Applied Mathematics Letters, 9, 51-57.
23. Martinez-Guerra, R., Poznyak, A., Gortcheva, E., and Diaz De Leon, V., 1998, Angular link velocity robust estimation in presence of high level mixed uncertainties, Proceedings of the Institution of Electrical Engineers, Pt D (submitted).
24. Nicosia, S., and Tomei, P., 1990, Robot control by using only joint position measurement. IEEE Transactions on Automatic Control, 35, 1058-1061.
25. Ortega, R., and Spong, M., 1988, Adaptive motion control of rigid robots: A tutorial. Proceedings of the 27th IEEE Conference on Decision and Control, Austin, Texan, USA, 1988 (New York: IEEE), pp. 1575-1584.
26. Poznyak, A.S., and Osorio-Cordero, A., 1994, Suboptimal robust filtering of states of finite dimensional linear systems with time-varying parameters under nonrandom disturbances. Proceedings of the 33rd IEEE Conference on Decision and Control, Orlando, Florida, USA, 1994 (New York: IEEE), pp. 3931-3936.
27. Utkin, V.I. 1992, Sliding Modes in Optimization and Control (Berlin: Springer-Verlag).
28. Willems, J.C., 1971, Least squares optimal control and algebraic Riccati equations, IEEE Transactions on Automatic Control, 16, 621-634.