Abstract:
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.
Registro:
Documento: |
Artículo
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Título: | Trajectory tracking in nonlinear systems via nonlinear reduced-order observers |
Autor: | Garc Ía, R.A.; D'attellis, C.E. |
Filiación: | Departamento de Matemática, F. C. E. y N, Universidad de Buenos Aires Ciudad Universitaria, Buenos Aires, 1428, Argentina Centro de Cálculo Científico, C. A. C, Comisión Nacional de Energia Atómica, Av. Libertador 8250, BuenosAires, 1429, Argentina
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Palabras clave: | Closed loop control systems; Control theory; Feedback; Neural networks; Robotic arms; State estimation; Control engineering; Control problem; Full state vector; Nonlinear observer; State variable estimation; Trajectory tracking; Nonlinear control systems |
Año: | 1995
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Volumen: | 62
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Número: | 3
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Página de inicio: | 685
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Página de fin: | 715
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DOI: |
http://dx.doi.org/10.1080/00207179508921563 |
Título revista: | International Journal of Control
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Título revista abreviado: | Int J Control
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ISSN: | 00207179
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Registro: | https://bibliotecadigital.exactas.uba.ar/collection/paper/document/paper_00207179_v62_n3_p685_GarcIa |
Referencias:
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Citas:
---------- APA ----------
Garc Ía, R.A. & D'attellis, C.E.
(1995)
. Trajectory tracking in nonlinear systems via nonlinear reduced-order observers. International Journal of Control, 62(3), 685-715.
http://dx.doi.org/10.1080/00207179508921563---------- CHICAGO ----------
Garc Ía, R.A., D'attellis, C.E.
"Trajectory tracking in nonlinear systems via nonlinear reduced-order observers"
. International Journal of Control 62, no. 3
(1995) : 685-715.
http://dx.doi.org/10.1080/00207179508921563---------- MLA ----------
Garc Ía, R.A., D'attellis, C.E.
"Trajectory tracking in nonlinear systems via nonlinear reduced-order observers"
. International Journal of Control, vol. 62, no. 3, 1995, pp. 685-715.
http://dx.doi.org/10.1080/00207179508921563---------- VANCOUVER ----------
Garc Ía, R.A., D'attellis, C.E. Trajectory tracking in nonlinear systems via nonlinear reduced-order observers. Int J Control. 1995;62(3):685-715.
http://dx.doi.org/10.1080/00207179508921563