On passivity‐based output feedback global stabilization of euler‐lagrange systems

摘要: It is well known that in systems described by Euler-Lagrange equations the stability of equilibria determined potential energy function. Further, these are asymptotically stable if suitable damping present system. These properties motivated development a passivity-based controller design methodology which aims at modifying closed loop and addition required dissipation. To achieve latter objective measurement generalized velocities typically required. Our main contribution this paper proof injection without velocity possible via inclusion dynamic extension provided system satisfies dissipation propggation condition. This allows us to determine class can be globally stabilized with output feedback. We illustrate result problem set-point control elastic joints robots. research contributes, modestly, theory for stabilization nonlinear physical structures effectively exploits its properties.