Inverse Optimal Adaptive Output Feedback Control of Euler Lagrange Systems A Variable Structure Observer Based Approach
Conference paper > Full Text · 2015
Authors: Orhan Aksoy, ERKAN ZERGEROĞLU, Enver TATLICIOĞLU
2015 IEEE Int. Conf. Decision and Control, Japan, International, Full Text, 2015-2015, pp 7642-7647
Summary
This work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring asymptotic position tracking also ensures that a positive cost function, penalizing control input performance, is minimized. Simulation studies performed on a two link planar robot manipulator are included to illustrate the overall performance and feasibility of the proposed controller.