TY - GEN
T1 - Observer design for Euler Lagrange systems
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
AU - Ghommam, Jawhar
AU - Mnif, Faïçal
AU - Benali, Abderraouf
AU - Poisson, Gérard
PY - 2007
Y1 - 2007
N2 - This paper presents a practical method to design an output feedback controller for a general mechanical system described by Euler Lagrange equations. An application of such an observer is formulated to path following controller for an underactuated surface vessel moving in a horizontal plan. The surface vessel is underactuated in the sway direction and has only position and orientation measurement available. The control development is based on Lyapunov direct method and backstepping technique.
AB - This paper presents a practical method to design an output feedback controller for a general mechanical system described by Euler Lagrange equations. An application of such an observer is formulated to path following controller for an underactuated surface vessel moving in a horizontal plan. The surface vessel is underactuated in the sway direction and has only position and orientation measurement available. The control development is based on Lyapunov direct method and backstepping technique.
KW - Backstepping technique
KW - Euler lagrange systems
KW - Lyapunov direct method
KW - Nonlinear observer
KW - Underactuated surface vessel
UR - http://www.scopus.com/inward/record.url?scp=51349091418&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349091418&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399442
DO - 10.1109/IROS.2007.4399442
M3 - Conference contribution
AN - SCOPUS:51349091418
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2883
EP - 2888
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -