Trajectory tracking control for a class of mechanical systems without velocity measurements

Resumen: In this note, we present a trajectory tracking control for a class of fully actuated mechanical systems without velocity measurements. The proposed controller is obtained in three steps. First, a globally convergent Immersion and Invariance velocity observer is designed. Second, the backstepping technique is used to design a full state feedback controller. Finally, combining the velocity observer and the controller, we obtain a control law that does not require the measurement of velocity. Thus, global convergence of the tracking error to zero is ensured. Realistic simulations illustrate the performance of the proposed controller.

¿Cómo citar?

Jose-Guadalupe Romero & Octavio Oropeza Montalvo. Trajectory tracking control for a class of mechanical systems without velocity measurements. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

mechanical systems, velocity observers, stabilization, tracking control

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