文章基本信息

标题：Passive momentum observer for mechanical systems
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作者：Joel Ferguson ; Alejandro Donaire ; Richard H. Middleton 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：19
页码：131-136
DOI：10.1016/j.ifacol.2021.11.067
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, we propose a hybrid momentum observer for mechanical systems that has the momentum estimate error as a passive output. It is shown that, in the absence of additional input terms, the proposed observer is exponentially stable with a tunable rate of convergence. Then, by interconnecting the observer with the plant, the momentum estimate is shown to be a passive output from the combined plant and observer systems. Using this property, asymptotic stability of the closed-loop system is possible via negative feedback using the momentum estimate. The approach is demonstrated on a planar 2 degree-of-freedom robotic manipulator.
关键词：KeywordsNonlinear observersfilter designPassivity-based controlLagrangianHamiltonian systems