DocumentCode :
3205435
Title :
Observer based feedback control strategies for collaborative robots
Author :
Ahmed, Salman ; Karsiti, Mohd N. ; Cruz, Jose B.
Author_Institution :
Electr. & Electron. Eng., Univ. Teknol. Petronas, Tronoh
fYear :
2007
fDate :
25-28 Nov. 2007
Firstpage :
1125
Lastpage :
1129
Abstract :
This paper presents observer based feedback control strategies for nonholonomic collaborative robots. The collaborative robot system uses the leader-follower formation controller. The observer based feedback strategies are presented for the leader robot. The control inputs for the follower robot are derived based on input-output linearization techniques. The system is modeled using Simulink and simulation results are presented. From the simulation results, it can be seen that the error for observer based feedback controller converges rapidly to zero. Furthermore, the observer based feedback controller results in a K-exponentially stable system. The work presented here is an initial study concerning the design of observer feedback controllers for nonholonomic collaborative robots.
Keywords :
asymptotic stability; feedback; mobile robots; motion control; multi-robot systems; observers; position control; K-exponentially stable system; Simulink; input-output linearization; leader-follower formation controller; nonholonomic collaborative robots; observer based feedback control; Adaptive control; Collaboration; Collaborative work; Equations; Feedback control; Intelligent robots; Mobile robots; Robot control; Robot kinematics; State feedback; Leader-follower formation; Nonholonomic collaborative robots; Observer feedback controller;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent and Advanced Systems, 2007. ICIAS 2007. International Conference on
Conference_Location :
Kuala Lumpur
Print_ISBN :
978-1-4244-1355-3
Electronic_ISBN :
978-1-4244-1356-0
Type :
conf
DOI :
10.1109/ICIAS.2007.4658560
Filename :
4658560
Link To Document :
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