Triangular form for Euler–Lagrange systems with application to the global output tracking control

Abstract

This paper presents a practical method to solve the problem of global output feedback tracking trajectories for a class of Euler–Lagrange systems when the variables of velocity are the unmeasured part of the state. We exhibited a new output feedback control scheme, which globally exponentially stabilize trajectories. It relies on the determination of a change of coordinates which gives to the systems a triangular form. Results are illustrated on the academic example of the two-link direct drive robot manipulator.