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What is Separation Principle for Euler-Lagrange Systems about?
This document summarizes previous work on solving the global output feedback control problem for robot manipulators using only position measurements. It discusses approaches that use observers to estimate velocities from positions. The document then introduces a new solution for a class of Euler-Lagrange systems that allows independent design of a state observer and state feedback controller, establishing a separation principle. This is achieved through a kinematics model that provides a global change of co
- Author
- scualoboy2006
- Language
- EN