Title :
A high-gain observer-based PD control for robot manipulator
Author :
Heredia, José Antonio ; Yu, Wen
Author_Institution :
Dept. de Control Autom., CINVESTAV-IPN, Mexico City, Mexico
Abstract :
In this paper, the popular PD control of robot manipulator is modified. A high-gain observer is proposed for the estimation of the velocity. The main contributions of this paper are: (1) By means of singular perturbation analysis, we prove that the closed-loop system is asymptotic stable; (2) We solve the problem of how much faster the observer should be than the observer-based control
Keywords :
asymptotic stability; closed loop systems; manipulators; observers; singularly perturbed systems; two-term control; asymptotically stable closed-loop system; high-gain observer-based PD control; robot manipulator; singular perturbation analysis; velocity estimation; Automatic control; Control systems; Equations; Manipulators; PD control; Pollution measurement; Position measurement; Robotics and automation; Robots; Velocity measurement;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.878637
