Dynamic and kinematic observers for output coordination control of Euler-Lagrange systems: A comparison and applications

摘要

This paper compares a dynamic and a kinematic observer approach for output coordination control of mechanicalsystems formulated in the Euler-Lagrange framework. The observers are designed to estimate missing velocity andacceleration information based on position/attitude measurements to provide a full state vector to the coordinationcontrol algorithm. The kinematic observer approach utilizes a virtual system designed to mimic the kinematicbehaviour of the leader in order to estimate unknown states of the state vector with a minimum of informationavailable. The dynamic observer approach is based on utilizing the full dynamic model of the follower systemwhen estimating the missing states. The two observers are compared in terms of estimation principles and practicalperformance, and applied to two practical examples; leader-follower robot manipulator synchronization control, andunderway replenishment operations for surface ships.