Input-to-State Stable Hybrid Momentum Observer for Mechanical Systems

Title: Input-to-State Stable Hybrid Momentum Observer for Mechanical Systems
Creator: Ferguson, Joel; Sakata, Naoki; Fujimoto, Kenji
Relation: IEEE Control Systems Letters Vol. 8, p. 1361-1366
Publisher Link: http://dx.doi.org/10.1109/LCSYS.2024.3410633
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2024
Description: This paper examines the dynamic properties of a hybrid momentum observer for mechanical systems, extending the previously-reported results. The observer estimates the momentum vector from measurements of the configuration vector and is shown to be input-to-state stable with respect to external perturbations. In the absence of external perturbation the observer is shown to be globally exponentially stable, converging at a user-controlled rate. The observer is constructed from a port-Hamiltonian representation of mechanical systems and exhibits a passivity property with respect to an input-output port that can be utilised for subsequent control design. The theoretical results are demonstrated via numerical simulation on a 2-link vertical manipulator.
Subject: observers; nonlinear control systems; nonlinear systems; mechanical systems
Identifier: http://hdl.handle.net/1959.13/1510508
Identifier: uon:56421
Identifier: ISSN:2475-1456
Language: eng
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