| Global output tracking control of a class of Euler-Lagrange systems with monotonic nonlinearities in the velocities (2000) | |||||||||||||||
Abstract | |||||||||||||||
| We address the problem of output feedback tracking control of a class of Euler-Lagrange systems subject to nonlinear dissipative loads. By imposing a monotone damping condition on the nonlinearities of the unmeasured states, the common restriction that the nonlinearities be globally Lipschitz is removed. The proposed observer-controller scheme renders the origin of the error dynamics uniformly globally asymptotically stable. 1 | |||||||||||||||
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