Trajectory tracking in nonlinear systems via nonlinear reduced-order observers
The use of nonlinear control methods in control engineering implies, in general, the knowledge of the full state vector. In this paper we present a nonlinear observer of reduced order (i.e. the order of the observer is less than the order of the nonlinear system observed) for estimating the state va...
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| Formato: | Capítulo de libro |
| Lenguaje: | Inglés |
| Publicado: |
1995
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| Acceso en línea: | Registro en Scopus DOI Handle Registro en la Biblioteca Digital |
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| LEADER | 06158caa a22006857a 4500 | ||
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| 001 | PAPER-19009 | ||
| 003 | AR-BaUEN | ||
| 005 | 20230518205022.0 | ||
| 008 | 190411s1995 xx ||||fo|||| 00| 0 eng|d | ||
| 024 | 7 | |2 scopus |a 2-s2.0-0029377473 | |
| 040 | |a Scopus |b spa |c AR-BaUEN |d AR-BaUEN | ||
| 100 | 1 | |a Garc Ía, R.A. | |
| 245 | 1 | 0 | |a Trajectory tracking in nonlinear systems via nonlinear reduced-order observers |
| 260 | |c 1995 | ||
| 270 | 1 | 0 | |m Garc Ía, R.A.; Departamento de Matemática, F. C. E. y N, Universidad de Buenos Aires Ciudad Universitaria, BuenosAires, 1428, Argentina |
| 506 | |2 openaire |e Política editorial | ||
| 504 | |a Byrnes, C.I., Isidori, A., (1989) Proceedings of the 28Th Conference on Decision and Control, pp. 2247-2251. , Steady state response, separation principle and the output regulation of nonlinear systems | ||
| 504 | |a Canudas De Wit, C., Fixot, N., (1992) IEEE Transactions on Automatic Control, 37, pp. 1234-1237. , Adaptive control of robot manipulators via velocity estimated feedback | ||
| 504 | |a Canudas De Wit, C., Slotine, J.-J.E., (1989) IFAC Symposium on Nonlinear Control Systems Design, pp. 142-147. , Sliding observers for robot manipulators, Capri, Italy | ||
| 504 | |a Canudas De Wit, C., Fixot, N., Astrom, K.J., (1992) IEEE Transactions on Robotics and Automation, 8, pp. 138-144. , Trajectory tracking in robot manipulators via nonlinear state feedback | ||
| 504 | |a Cernuschi Frías, B., García, R.A., Zanutto, S., (1993) Proceedings of the 1993 World Congress on Neural Networks, 2, pp. 281-284. , A neural network model of tunable multiple associative memories | ||
| 504 | |a Ciccarella, G., Dalla Mora, M., Germani, A., (1993) International Journal of Control, 57, pp. 537-556. , A Luenberger-like observer for nonlinear systems | ||
| 504 | |a D'attellis, C.E., García, R., (1993) Submitted for Publication, , A robust nonlinear observer for trajectory tracking in robot manipulators | ||
| 504 | |a De Luca, A., Lanari, L., Oriolo, G., (1991) Automatica, 27, pp. 535-539. , A sensitivity approach to optimal spline robot trajectories | ||
| 504 | |a García, R.A., (1993) Observadores No Lineales Del Tipo Luenberger, , Doctoral Dissertation, University of Buenos Aires | ||
| 504 | |a García, R.A., D'attellis, C.E., (1993) Control-Theory and Advanced Technology, , Nonlinear observers in closed-loop trajectory tracking. Submitted to | ||
| 504 | |a Gauthier, J.P., Hammouri, H., Othman, S., (1992) IEEE Transactions of Automatic Control, 37, pp. 875-880. , A simpler observer for nonlinear systems; applications to bioreactor | ||
| 504 | |a Hermann, R., Krener, A.J., (1977) IEEE Transactions on Automatic Control, 22, pp. 728-740. , Nonlinear controllability and observability | ||
| 504 | |a Hopfield, J.J., (1984) Proceedings of the National Academy of Science U.S, 81, pp. 3088-3092. , Neurons with graded response have collective computational capabilities like those of two-state neurons | ||
| 504 | |a Isidori, A., (1989) Nonlinear Control Systems, , second edition, Berlin: Springer-Verlag | ||
| 504 | |a Lefschetz, S., (1964) Differentia Equations: Geometry Theory, , second edition, New York: Interscience | ||
| 504 | |a Mancilla Aguilar, J.L., García, R.A., D'attellis, C.E., (1994) Submitted for Publication, , Exact linearization of non-linear systems: trajectory tracking with bounded controls and state constraints | ||
| 504 | |a Nijmeijer, H., Van Der Schaft, A.J., (1990) Nonlinear Dynamical Control Systems, , Berlin: Springer-Verlag) | ||
| 504 | |a Sontag, E.D., (1990) Mathematical Control Theory. Deterministic Finite Dimensional Systems, , Berlin: Springer-Verlag | ||
| 504 | |a Vidyasagar, M., (1980) IEEE Transactions on Automatic Control, 25, pp. 504-509. , On the stabilization of nonlinear systems using state detection | ||
| 504 | |a Wonham, W.M., (1979) Linear Multivariable Control: A Geometric Approach, , Berlin:Springer-Verlag | ||
| 520 | 3 | |a The use of nonlinear control methods in control engineering implies, in general, the knowledge of the full state vector. In this paper we present a nonlinear observer of reduced order (i.e. the order of the observer is less than the order of the nonlinear system observed) for estimating the state variables to be used in a trajectory tracking control loop. The nonlinear observer has the following characteristics: (1) the speed of convergence is adjustable; (2) the closed-loop control for trajectory tracking, with the observer in the loop, is stable. Applications to a robot arm and a neural network are included. © 1995 Taylor & Francis Group, LLC. |l eng | |
| 593 | |a Departamento de Matemática, F. C. E. y N, Universidad de Buenos Aires Ciudad Universitaria, Buenos Aires, 1428, Argentina | ||
| 593 | |a Centro de Cálculo Científico, C. A. C, Comisión Nacional de Energia Atómica, Av. Libertador 8250, BuenosAires, 1429, Argentina | ||
| 690 | 1 | 0 | |a CLOSED LOOP CONTROL SYSTEMS |
| 690 | 1 | 0 | |a CONTROL THEORY |
| 690 | 1 | 0 | |a FEEDBACK |
| 690 | 1 | 0 | |a NEURAL NETWORKS |
| 690 | 1 | 0 | |a ROBOTIC ARMS |
| 690 | 1 | 0 | |a STATE ESTIMATION |
| 690 | 1 | 0 | |a CONTROL ENGINEERING |
| 690 | 1 | 0 | |a CONTROL PROBLEM |
| 690 | 1 | 0 | |a FULL STATE VECTOR |
| 690 | 1 | 0 | |a NONLINEAR OBSERVER |
| 690 | 1 | 0 | |a STATE VARIABLE ESTIMATION |
| 690 | 1 | 0 | |a TRAJECTORY TRACKING |
| 690 | 1 | 0 | |a NONLINEAR CONTROL SYSTEMS |
| 700 | 1 | |a D'attellis, C.E. | |
| 773 | 0 | |d 1995 |g v. 62 |h pp. 685-715 |k n. 3 |p Int J Control |x 00207179 |w (AR-BaUEN)CENRE-5230 |t International Journal of Control | |
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| 856 | 4 | 0 | |u https://doi.org/10.1080/00207179508921563 |y DOI |
| 856 | 4 | 0 | |u https://hdl.handle.net/20.500.12110/paper_00207179_v62_n3_p685_GarcIa |y Handle |
| 856 | 4 | 0 | |u https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_00207179_v62_n3_p685_GarcIa |y Registro en la Biblioteca Digital |
| 961 | |a paper_00207179_v62_n3_p685_GarcIa |b paper |c PE | ||
| 962 | |a info:eu-repo/semantics/article |a info:ar-repo/semantics/artículo |b info:eu-repo/semantics/publishedVersion | ||