A globally exponentially convergent immersion and invariance speed observer for n degrees of freedom mechanical systems with nonholonomic constraints

Alessandro Astolfi (1) , Roméo Ortega (2) , A. Venkatraman

1 EEE Department
2 L2S - Laboratoire des signaux et systèmes

Domaines: Automatique; Automatique / Robotique

Alessandro Astolfi, Roméo Ortega, A. Venkatraman. A globally exponentially convergent immersion and invariance speed observer for n degrees of freedom mechanical systems with nonholonomic constraints. Automatica, 2010, 46, pp.182-189. ⟨hal-00555761⟩