Aksoy, OrhanZergeroğlu, ErkanTatlıcıoğlu, Enver2017-08-172017-08-172015Aksoy, O., Zergeroğlu, E., and Tatlıcıoğlu, E. (2015, December 15-18). Inverse optimal adaptive output feedback control of Euler-Lagrange systems: A variable structure observer based approach. Paper presented at the 54th IEEE Conference on Decision and Control, CDC 2015. doi:10.1109/CDC.2015.74034279781479978861http://doi.org/10.1109/CDC.2015.7403427http://hdl.handle.net/11147/614854th IEEE Conference on Decision and Control, CDC 2015; Osaka International Convention Center (Grand Cube)5-3-51 Nakanoshima, Kita-KuOsaka; Japan; 15 December 2015 through 18 December 2015This work focuses on inverse optimal, observer based output feedback control of Euler-Lagrange systems. Specifically a variable structure observer based output feedback controller is proposed which aside from ensuring asymptotic position tracking also ensures that a positive cost function, penalizing control input performance, is minimized. Simulation studies performed on a two link planar robot manipulator are included to illustrate the overall performance and feasibility of the proposed controller. © 2015 IEEE.eninfo:eu-repo/semantics/openAccessAdaptive systemsCost functionNonlinear systemsObserversOutput feedbackYttriumConference Object2-s2.0-8496202663410.1109/CDC.2015.740342710.1109/CDC.2015.7403427