A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems


In this paper, we develop a new discontinuous output feedback tracking controller for a class of uncertain, nonlinear, multi-input/multioutput, mechanical systems whose dynamics are 4rst-order di5erentiable. A novel 4lter design and Lyapunov-type stability analysis are used to prove semi-global asymptotic tracking. As a by-product of the proposed framework… (More)
DOI: 10.1016/j.automatica.2003.12.007


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