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Conference Paper: On output feedback stabilization of Euler-Lagrange systems with nondissipative forces

TitleOn output feedback stabilization of Euler-Lagrange systems with nondissipative forces
Authors
Issue Date1995
Citation
Proceedings Of The Ieee Conference On Decision And Control, 1995, v. 4, p. 3791-3795 How to Cite?
AbstractThis paper provides a solution to the problem of output feedback stabilization of systems described by Euler-Lagrange equations perturbed by nondissipative forces. This class of forces appears in some applications where we must take into account the interaction of the system with its environment. The nonlinear dependence on the unmeasurable part of the state and the loss of the fundamental passivity property render most of the existing results on stabilization of nonlinear systems unapplicable to this problem. The technique we use consists of finding a dynamic output feedback controller and a nonlinear change of coordinates such that the closed loop can be decomposed as a cascade of an asymptotically stable system and an input-to-state stable system. This should be contrasted with the well known passivity-based technique that aims at a feedback interconnection of passive systems. We believe this design methodology to be of potential applicability to other stabilization problems where passivity arguments are unapplicable.
Persistent Identifierhttp://hdl.handle.net/10722/169779
ISSN

 

DC FieldValueLanguage
dc.contributor.authorShishkin, Sen_US
dc.contributor.authorOrtega, Ren_US
dc.contributor.authorHill, Den_US
dc.contributor.authorLoria, Aen_US
dc.date.accessioned2012-10-25T04:55:34Z-
dc.date.available2012-10-25T04:55:34Z-
dc.date.issued1995en_US
dc.identifier.citationProceedings Of The Ieee Conference On Decision And Control, 1995, v. 4, p. 3791-3795en_US
dc.identifier.issn0191-2216en_US
dc.identifier.urihttp://hdl.handle.net/10722/169779-
dc.description.abstractThis paper provides a solution to the problem of output feedback stabilization of systems described by Euler-Lagrange equations perturbed by nondissipative forces. This class of forces appears in some applications where we must take into account the interaction of the system with its environment. The nonlinear dependence on the unmeasurable part of the state and the loss of the fundamental passivity property render most of the existing results on stabilization of nonlinear systems unapplicable to this problem. The technique we use consists of finding a dynamic output feedback controller and a nonlinear change of coordinates such that the closed loop can be decomposed as a cascade of an asymptotically stable system and an input-to-state stable system. This should be contrasted with the well known passivity-based technique that aims at a feedback interconnection of passive systems. We believe this design methodology to be of potential applicability to other stabilization problems where passivity arguments are unapplicable.en_US
dc.languageengen_US
dc.relation.ispartofProceedings of the IEEE Conference on Decision and Controlen_US
dc.titleOn output feedback stabilization of Euler-Lagrange systems with nondissipative forcesen_US
dc.typeConference_Paperen_US
dc.identifier.emailHill, D:en_US
dc.identifier.authorityHill, D=rp01669en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0029484816en_US
dc.identifier.volume4en_US
dc.identifier.spage3791en_US
dc.identifier.epage3795en_US
dc.identifier.scopusauthoridShishkin, S=7102549938en_US
dc.identifier.scopusauthoridOrtega, R=7202793493en_US
dc.identifier.scopusauthoridHill, D=35398599500en_US
dc.identifier.scopusauthoridLoria, A=24787713400en_US

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