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Article Dans Une Revue Nonlinear Dynamics and Systems Theory Année : 2007

Transformation Synthesis for Euler-Lagrange Systems

Mohamed Mabrouk
  • Fonction : Auteur
  • PersonId : 764450
  • IdRef : 121296806
Sabeur Ammar
  • Fonction : Auteur
  • PersonId : 756508
  • IdRef : 073670278

Résumé

The transformation of Euler-Lagrange systems, with the variable of position as output, in order to solve some interesting problem as the design of observer is considered in this paper. First, we will provide a necessary and sufficient condition, which ensures the transformation of such system into some structure affine in the velocities, as well as a method to compute this transformation. For a particular family of Euler-lagrange systems with two degree of freedom we will present a change of coordinates which makes the dynamics triangular with respect to the velocities and a globally asymptotically converging observer is provided. To illustrate the approach, it is applied to the Cart-pendulum system.
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Dates et versions

hal-00601235 , version 1 (17-06-2011)

Identifiants

  • HAL Id : hal-00601235 , version 1

Citer

Mohamed Mabrouk, Sabeur Ammar, Jean-Claude Vivalda. Transformation Synthesis for Euler-Lagrange Systems. Nonlinear Dynamics and Systems Theory, 2007, 7 (2), pp.197-216. ⟨hal-00601235⟩
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