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

@inproceedings{Ortega1995OnPO,
  title={On passivity‐based output feedback global stabilization of euler‐lagrange systems},
  author={Romeo Ortega and Antonio Lor{\'i}a and Rafael Kelly and Laurent Praly},
  year={1995}
}
It is well known that in systems described by Euler-Lagrange equations the stability of the equilibria is determined by the potential energy function. Further, these equilibria are asymptotically stable if suitable damping is present in the system. These properties motivated the development of a passivity-based controller design methodology which aims at modifying the potential energy of the closed loop and the addition of the required dissipation. To achieve the latter objective measurement of… CONTINUE READING

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