Passive momentum observer for nonholonomic systems

Abstract

In this note, we extend a recent hybrid passive momentum observer for mechanical system to nonholonomic systems. The momentum observer assumes that configuration measurements of the underlying system are available, but measurements of the momentum or velocity are not available. Utilising a hybrid observer definition, the resulting observer converges at an exponential rate and has a lower dimension when compared to similar results. The observer additionally has a passive input-output pair which is used to interconnect with a control-by-interconnection (CbI) scheme, guaranteeing stability of the joint observer and controller system.