基于模型的欧拉-拉格朗日系统状态估计与刚体机器人控制

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2024-11-30 DOI:10.1016/j.automatica.2024.112003

Rolf Johansson

引用次数: 0

摘要

本文考虑了位置q可测量但角速度q≤或加速度q≤的刚体动力学状态估计。将面向稳定性的方法应用于基于模型的欧拉-拉格朗日系统和刚体动力学的状态估计设计中，证明了基于位置测量的状态估计可以保证状态估计的半全局渐近稳定运行，并可用于动态输出反馈控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Model-based state estimation for Euler–Lagrange systems and rigid-body robot control

This article considers state estimation of rigid-body dynamics where the positions

q

are available to measurement but where the angular velocities

\dot{q}

or accelerations

\ddot{q}

are not available to measurement. Using a stability-oriented approach to model-based design of state estimation for Euler–Lagrange systems and rigid-body dynamics, state estimation based on position measurement is shown to guarantee semiglobally asymptotically stable operation of the state estimation and its use in dynamic output feedback control.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.