Observer Design for Unilaterally Constrained Lagrangian Systems: A Passivity-Based Approach

Aneel Tanwani 1 Bernard Brogliato 1 Christophe Prieur 2
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
2 GIPSA-SYSCO - SYSCO
GIPSA-DA - Département Automatique
Abstract : This paper addresses the problem of state estimation in nonlinear Lagrangian dynamical systems with frictionless unilateral constraints using the position measurement as output. The discontinuous velocity variable in such systems is modeled as a function of bounded variation (so that Zeno phenomenon is not ruled out). Since the derivative of such functions is represented with the Lebesgue-Stieltjes measure, the framework of measure differential inclusions (MDIs) is used to describe the dynamics. A class of estimators is proposed, which also uses the framework of MDIs, and is shown to generate asymptotically converging state estimates. The existence and uniqueness of solutions for the proposed estimators is rigorously proven. The global stability of error dynamics is analyzed using the generalized Lyapunov methods for functions of bounded variation. As particular cases of our estimators, we provide an explicit construction of a full-order observer, and a reduced-observer.
Type de document :
Article dans une revue
IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2016, 61 (9), pp.2386-2401. 〈10.1109/TAC.2015.2492098〉
Liste complète des métadonnées

Littérature citée [38 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01113344
Contributeur : Bernard Brogliato <>
Soumis le : mercredi 1 novembre 2017 - 16:31:08
Dernière modification le : samedi 8 septembre 2018 - 01:21:27
Document(s) archivé(s) le : vendredi 2 février 2018 - 12:54:32

Fichier

ATBBCPO.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

Aneel Tanwani, Bernard Brogliato, Christophe Prieur. Observer Design for Unilaterally Constrained Lagrangian Systems: A Passivity-Based Approach. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2016, 61 (9), pp.2386-2401. 〈10.1109/TAC.2015.2492098〉. 〈hal-01113344v3〉

Partager

Métriques

Consultations de la notice

797

Téléchargements de fichiers

26