A UGAS observer for n-DOF Euler-Lagrange systems

Abstract

In this paper we propose a nonlinear observer for a general class of n-DOF Euler-Lagrange Systems without velocity measurements. In particular, we propose a generalized Luenberger-type observer with globally uniformly asymptotically stable observer error dynamics. The gains of the observer are nonlinear and time-varying, and we control the growth of the gains in order to globally dominate all destabilizing terms in the observer error dynamics