Tracking control of the n-dimensional rigid body with output feedback

Noboru Sakamoto

doi:10.11499/sicep.2004.0_89_3

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_89_3

会議情報

主催: The Society of Instrument and Control Engineers

共催: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Tracking control of the n-dimensional rigid body with output feedback

*Noboru Sakamoto

著者情報

キーワード: rigid bory, tracking control, Hamiltonian Formulation

会議録・要旨集フリー

p. 89

詳細

抄録

The tracking control of the hBcdimensional rigid body without angular velocity measurements is considered. Combining the angular velocity observer proposed in the previous paper, it is possible to design output feedback with the so-called reduction property in the sense that the proposed control law reduces to the one that achieves set-point regulation when the desired trajectory is stationary.

責任著者(Corresponding author)

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