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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
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
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
Volumen:62
Número:3
Página de inicio:685
Página de fin:715
DOI: http://dx.doi.org/10.1080/00207179508921563
Título revista:International Journal of Control
Título revista abreviado:Int J Control
ISSN:00207179
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