- Title
- Passive momentum observer for nonholonomic systems
- Creator
- Ferguson, Joel; McLean, Kyle
- Relation
- 12th IFAC Symposium on Nonlinear Control Systems NOLCOS 2022. Proceedings of the 12th IFAC Symposium on Nonlinear Control Systems NOLCOS 2022 [presented in IFAC-PapersOnLine, Vol. 56 No. 1] (Canberra, Australia 04-06 January, 2023) p. 373-378
- Publisher Link
- http://dx.doi.org/10.1016/j.ifacol.2023.02.063
- Publisher
- Elsevier
- Resource Type
- conference paper
- Date
- 2023
- Description
- In this note, we extend a recent hybrid passive momentum observer for mechanical system to nonholonomic systems. The momentum observer assumes that configuration measurements of the underlying system are available, but measurements of the momentum or velocity are not available. Utilising a hybrid observer definition, the resulting observer converges at an exponential rate and has a lower dimension when compared to similar results. The observer additionally has a passive input-output pair which is used to interconnect with a control-by-interconnection (CbI) scheme, guaranteeing stability of the joint observer and controller system.
- Subject
- nonholonomic systems; nonlinear observers; filter design; passivity-based control; Lagrangian; Hamiltonian systems
- Identifier
- http://hdl.handle.net/1959.13/1492459
- Identifier
- uon:53349
- Identifier
- ISSN:2405-8963
- Language
- eng
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