Model-Based State Estimation for Euler–Lagrange Systems and Rigid-Body Robot Control
Johansson, Rolf LU
(2025)
In Automatica
172.
- Abstract
- This article considers state estimation of rigid-body dynamics where the positions q are available to measurement but where the angular velocities ̇or accelerations are not available to measurement. Using a stability-oriented approach to model-based design of state estimation for Euler–Lagrange systems and rigid-body dynamics, state estimation based on position measurement is shown to guarantee semiglobally asymptotically stable operation of the state estimation and its use in dynamic output feedback control.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/93ce338b-a58a-427a-a1de-8b8f4c020f54
- author
- Johansson, Rolf
LU
- organization
- publishing date
- 2025
- type
- Contribution to journal
- publication status
- published
- subject
- in
- Automatica
- volume
- 172
- article number
- 112003
- publisher
- Elsevier
- external identifiers
-
- scopus:85210545471
- ISSN
- 0005-1098
- DOI
- 10.1016/j.automatica.2024.112003
- project
- UAS@LU: Autonomous Flight
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 93ce338b-a58a-427a-a1de-8b8f4c020f54
- date added to LUP
- 2024-11-30 18:01:42
- date last changed
- 2025-04-04 15:16:10
@article{93ce338b-a58a-427a-a1de-8b8f4c020f54,
abstract = {{This article considers state estimation of rigid-body dynamics where the positions q are available to measurement but where the angular velocities ̇or accelerations are not available to measurement. Using a stability-oriented approach to model-based design of state estimation for Euler–Lagrange systems and rigid-body dynamics, state estimation based on position measurement is shown to guarantee semiglobally asymptotically stable operation of the state estimation and its use in dynamic output feedback control.}},
author = {{Johansson, Rolf}},
issn = {{0005-1098}},
language = {{eng}},
publisher = {{Elsevier}},
series = {{Automatica}},
title = {{Model-Based State Estimation for Euler–Lagrange Systems and Rigid-Body Robot Control}},
url = {{http://dx.doi.org/10.1016/j.automatica.2024.112003}},
doi = {{10.1016/j.automatica.2024.112003}},
volume = {{172}},
year = {{2025}},
}