Passive momentum observer for mechanical systems
Joel Ferguson, Alejandro Donaire, Richard H. Middleton
Abstract
In this paper, we propose a hybrid momentum observer for mechanical systems that has the momentum estimate error as a passive output. It is shown that, in the absence of additional input terms, the proposed observer is exponentially stable with a tunable rate of convergence. Then, by interconnecting the observer with the plant, the momentum estimate is shown to be a passive output from the combined plant and observer systems. Using this property, asymptotic stability of the closed-loop system is possible via negative feedback using the momentum estimate. The approach is demonstrated on a planar 2 degree-of-freedom robotic manipulator.
Topics & Concepts
Control theory (sociology)Observer (physics)Momentum (technical analysis)Exponential stabilityPlanarConvergence (economics)Mechanical systemMathematicsRate of convergenceStability (learning theory)Computer sciencePhysicsControl (management)Quantum mechanicsFinanceNonlinear systemEconomic growthMachine learningComputer networkComputer graphics (images)Channel (broadcasting)EconomicsArtificial intelligenceControl and Stability of Dynamical SystemsAdaptive Control of Nonlinear SystemsDynamics and Control of Mechanical Systems