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- W1508807919 abstract "The paper considers an example of mechanical system with high relative degree: a fully actuated robot with elastic joints and the related control problem. The considered system is characterized by a uniform relative degree five, assuming as available output only the joints' angles. Two different strategies can be exploited to address this control problem. A first possibility is to use a full order observer and to exploit the observer's state instead of the actual system's state to design the feedback control law. A second methodology consists in introducing differentiators to reduce the system's relative degree. In the paper the presented strategy is a compromise between the two approaches. The adopted criterion to stop the differentiation procedure is given by the existence of a global solution of a reduced order matrix inequality and by designer's capability to compute such a solution." @default.
- W1508807919 created "2016-06-24" @default.
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- W1508807919 date "2009-08-01" @default.
- W1508807919 modified "2023-10-16" @default.
- W1508807919 title "Reduced-order observer for mechanical systems with elastic joints" @default.
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- W1508807919 doi "https://doi.org/10.23919/ecc.2009.7074817" @default.
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