Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel

Jawhar Ghommam, Faïçal Mnif, Abderraouf Benali, Gérard Poisson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages2883-2888
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

Fingerprint

Controllers
Backstepping
Feedback

Keywords

  • Backstepping technique
  • Euler lagrange systems
  • Lyapunov direct method
  • Nonlinear observer
  • Underactuated surface vessel

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Ghommam, J., Mnif, F., Benali, A., & Poisson, G. (2007). Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 2883-2888). [4399442] https://doi.org/10.1109/IROS.2007.4399442

Observer design for Euler Lagrange systems : Application to path following control of an underactuated surface vessel. / Ghommam, Jawhar; Mnif, Faïçal; Benali, Abderraouf; Poisson, Gérard.

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 2883-2888 4399442.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ghommam, J, Mnif, F, Benali, A & Poisson, G 2007, Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399442, pp. 2883-2888, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 10/29/07. https://doi.org/10.1109/IROS.2007.4399442
Ghommam J, Mnif F, Benali A, Poisson G. Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 2883-2888. 4399442 https://doi.org/10.1109/IROS.2007.4399442
Ghommam, Jawhar ; Mnif, Faïçal ; Benali, Abderraouf ; Poisson, Gérard. / Observer design for Euler Lagrange systems : Application to path following control of an underactuated surface vessel. Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. pp. 2883-2888
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