ROBOT CONTROL VIA ROBUST ESTIMATED STATE FEEDBACK

被引：65

作者：

DEWIT, CC

FIXOT, N

机构：

[1] Laboratoire d'Automatique de Grenoble E.N.S.I.E.G.-I.N.P.G., Saint Martin D'Heres

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1991年 / 36卷 / 12期

关键词：

D O I：

10.1109/9.106170

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This note deals with the problem of controlling a robot manipulator without needing the precise knowledge of the robot model physical parameters and by using only angular position feedback. Sliding observers are used here to estimate the link velocities. This observer together with a nonlinear control law are modified, according to the Leitmann procedure [4], in order to face uncertainties on the robot model parameters and to yield a locally exponentially closed-loop system.

引用

页码：1497 / 1501

页数：5

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[10]

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