dc.contributor.author | Arbo, Mathias Hauan | |
dc.contributor.author | Grøtli, Esten Ingar | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2017-12-02T10:48:05Z | |
dc.date.available | 2017-12-02T10:48:05Z | |
dc.date.created | 2017-11-22T20:27:32Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | American Control Conference (ACC). 2017, 3294-3299. | nb_NO |
dc.identifier.issn | 0743-1619 | |
dc.identifier.uri | http://hdl.handle.net/11250/2468831 | |
dc.description.abstract | In this article we present a reformulation of the invariance and immersion speed observer of Astolfi et al. as applied to mechanical systems with bounded inertia matrices. This is done to explore the possibility of its practical implementation e.g. for 6 degrees-of-freedom industrial robots. The reformulation allows us find an explicit expression for one of the bounds used in the observer, and a constructive method for the second. We show that the observer requires either analytically or numerically solving at most 2n2 integrals, where n is the number of generalized coordinates in the mechanical system. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.title | On the globally exponentially convergent immersion and invariance speed observer for mechanical systems | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.pagenumber | 3294-3299 | nb_NO |
dc.source.journal | American Control Conference (ACC) | nb_NO |
dc.identifier.doi | 10.23919/ACC.2017.7963455 | |
dc.identifier.cristin | 1517431 | |
dc.relation.project | Norges forskningsråd: 237900 | nb_NO |
dc.description.localcode | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |