Robust control of robots via linear estimated state feedback

Share/Save/Bookmark

Berghuis, H. and Nijmeijer, H. (1994) Robust control of robots via linear estimated state feedback. IEEE transactions on automatic control, 39 (10). pp. 2159-2162. ISSN 00189286

[img]
Preview
PDF
371Kb
Abstract:In this note we propose a robust tracking controller for robots that requires only position measurements. The controller consists of two parts: a linear observer part that generates an estimated error state from the error on the joint position and a linear feedback part that utilizes this estimated state. It is shown that this computationally efficient controller yields semi-global uniform ultimate boundedness of the tracking error. An interesting feature of the controller is that it straightforwardly extends results on robust control of robots by linear state feedback to linear estimated-state feedback
Item Type:Article
Copyright:©1994 IEEE
Link to this item:http://purl.utwente.nl/publications/15042
Official URL:http://dx.doi.org/10.1109/9.328807
Export this item as:BibTeX
EndNote
HTML Citation
Reference Manager

 

Repository Staff Only: item control page

Metis ID: 111941