Model-Based State Estimation for Euler–Lagrange Systems and Rigid-Body Robot Control

This article considers state estimation of rigid-body dynamics where the positions q are available to measurement but where the angular velocities ̇or accelerations are not available to measurement. Using a stability-oriented approach to model-based design of state estimation for Euler–Lagrange systems and rigid-body dynamics, state estimation based on position measurement is shown to guarantee semiglobally asymptotically stable operation of the state estimation and its use in dynamic output feedback control.