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A Separation Principle for Underactuated Lossless Lagrangian Systems

Abstract : We study under-actuated Lagrangian systems without dissipative forces, augmented by a chain of integrators. For such systems, we solve the open problem of global tracking control via position measurements only; strictly speaking, we establish uniform global asymptotic stability for the closed loop system. As a corollary, we obtain an original statement for flexible-joint robots, which closes a long-standing open problem of output feedback nonlinear control.
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Sofía Avila-Becerril, Antonio Loria, Elena Panteley. A Separation Principle for Underactuated Lossless Lagrangian Systems. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2017, 62 (10), pp.5318-5323. ⟨10.1109/TAC.2016.2633782⟩. ⟨hal-01744620⟩

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