DocumentCode
290645
Title
Nonlinear dynamic output feedback for an equilibrium robot
Author
Aouchiche, K. ; Andréa-Novel, B.D.
Author_Institution
Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France
fYear
1993
fDate
17-20 Oct 1993
Firstpage
39
Abstract
We propose a stabilizing nonlinear controller-observer for an under-actuated mechanical system consisting of a 3-degrees-of-freedom robot arm with an inverted pendulum
Keywords
feedback; nonlinear dynamical systems; observers; robots; robust control; 3-DOF robot arm; equilibrium robot; inverted pendulum; nonlinear dynamic output feedback; observer; stabilizing controller; under-actuated mechanical system; Control systems; Mechanical systems; Nonlinear dynamical systems; Observers; Output feedback; Robot kinematics; Robot sensing systems; Robotics and automation; State feedback; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location
Le Touquet
Print_ISBN
0-7803-0911-1
Type
conf
DOI
10.1109/ICSMC.1993.390680
Filename
390680
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