Dynamic and kinematic observers for output coordination control of Euler-Lagrange systems: A comparison and applications
This paper compares a dynamic and a kinematic observer approach for output coordination control of mechanical systems formulated in the Euler-Lagrange framework. The observers are designed to estimate missing velocity and acceleration information based on position/attitude measurements to provide a...
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| Format: | Article |
| Language: | English |
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Norwegian Society of Automatic Control
2015-04-01
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| Series: | Modeling, Identification and Control |
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| Online Access: | http://www.mic-journal.no/PDF/2015/MIC-2015-2-3.pdf |