Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel

Jawhar Ghommam; Faïçal Mnif; Abderraouf Benali; Gérard Poisson

doi:10.1109/IROS.2007.4399442

Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel

Jawhar Ghommam^*, Faïçal Mnif, Abderraouf Benali, Gérard Poisson

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

19 Citations (Scopus)

Abstract

This paper presents a practical method to design an output feedback controller for a general mechanical system described by Euler Lagrange equations. An application of such an observer is formulated to path following controller for an underactuated surface vessel moving in a horizontal plan. The surface vessel is underactuated in the sway direction and has only position and orientation measurement available. The control development is based on Lyapunov direct method and backstepping technique.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	2883-2888
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2007.4399442
Publication status	Published - 2007
Externally published	Yes
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: Oct 29 2007 → Nov 2 2007

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/Territory	United States
City	San Diego, CA
Period	10/29/07 → 11/2/07

Keywords

Backstepping technique
Euler lagrange systems
Lyapunov direct method
Nonlinear observer
Underactuated surface vessel

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2007.4399442

Cite this

Ghommam, J., Mnif, F., Benali, A., & Poisson, G. (2007). Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 2883-2888). Article 4399442 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399442

Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel. / Ghommam, Jawhar; Mnif, Faïçal; Benali, Abderraouf et al.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 2883-2888 4399442 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ghommam, J, Mnif, F, Benali, A & Poisson, G 2007, Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399442, IEEE International Conference on Intelligent Robots and Systems, pp. 2883-2888, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 10/29/07. https://doi.org/10.1109/IROS.2007.4399442

Ghommam J, Mnif F, Benali A, Poisson G. Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 2883-2888. 4399442. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2007.4399442

Ghommam, Jawhar ; Mnif, Faïçal ; Benali, Abderraouf et al. / Observer design for Euler Lagrange systems : Application to path following control of an underactuated surface vessel. Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. pp. 2883-2888 (IEEE International Conference on Intelligent Robots and Systems).

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Observer design for Euler Lagrange systems: Application to path following control of an underactuated surface vessel

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