Nonlinear H-infinity measurement feedback control of Euler-Lagrange systems
Abstract
This paper considers the problem of designing explicit measurementfeedback H-infinity control laws for a class ofEuler-Lagrange systems. For these systems the joint positions areassumed as outputs of the system, while velocity measures are tobe estimated from an observer+controller structure. The maincontribution of this work lies in the explicit formulation of thedynamic structure of a joined observer+controller thatguarantees local asymptotic stability as well as attenuation ofdisturbances according to an H-infinity framework. In order to illustrate this methodology, experimental results are shown on a 2 dof gyrostabilized platform.
