GLOBAL OUTPUT FEEDBACK STABILIZATION OF A FAMILY OF EULER-LAGRANGE SYSTEMS

摘要

In this work, the problem of global output feedback stabilization is solved for a class of Euler-Lagrange systems when the variables of velocity are the unmeasured part of the state. The equations of these systems are nonlinear with respect to the velocities. A new output feedback control scheme is proposed. It relies on the determination of a change of coordinates which gives to the systems a triangular form. To illustrate the approach, it is applied to a two Link Manipulator.