- Title
- Passive momentum observer for mechanical systems
- Creator
- Ferguson, Joel; Donaire, Alejandro; Middleton, Richard, H.
- Relation
- 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2021. Proceedings of the 7th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNC) (Berlin 11-13 October, 2021) p. 131-136
- Publisher Link
- http://dx.doi.org/10.1016/j.ifacol.2021.11.067
- Publisher
- Elsevier
- Resource Type
- conference paper
- Date
- 2021
- Description
- In 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.
- Subject
- nonlinear observers; filter design; passivity-based control; Lagrangian; Hamiltonian systems
- Identifier
- http://hdl.handle.net/1959.13/1451985
- Identifier
- uon:44331
- Identifier
- ISSN:2405-8963
- Rights
- Copyright © 2021 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
- Language
- eng
- Full Text
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