On output feedback tracking control with disturbance attenuation for Euler-Lagrange systems

摘要

A solution to the problem of global tracking control with disturbance attenuation of robot systems described by Euler-Lagrange equations has been presented by Battilotti et al. (1997) by full state feedback. In this paper, we show how recent results of Zhang et al. (1997) can be used to solve the same problem for so-called "Euler-Lagrange systems" without velocity measurement, which is of much interest for robot applications.