Bounded output feedback tracking control of fully actuated Euler-Lagrange systems

Antonio Loria, Henk Nijmeijer

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    106 Citations (Scopus)


    In this short note we deal with the problem of trajectory tracking control of fully actuated Euler–Lagrange systems with unmeasurable velocities and bounded control inputs. In order to avoid the use of velocity measurements we introduce a nonlinear dynamic extension for the plant which renders the closed-loop system semi-globally asymptotically stable, hence, we prove that by increasing some of the dynamic extension parameters it is possible to enlarge the domain of attraction and to maintain the control inputs bounded.
    Original languageUndefined
    Pages (from-to)151-161
    Number of pages11
    JournalSystems and control letters
    Issue number33
    Publication statusPublished - 1998


    • Bounded output feedback control
    • Euler–Lagrange systems
    • IR-73631
    • Tracking
    • METIS-140310
    • Rigid joint robots

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