状態推定器を用いたロボットマニピュレータのロバスト軌道追従制御(機械力学,計測,自動制御)

概要

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In this paper a robust tracking control scheme without using adaptation and joint angular velocity measurements based on a state observer. The configuration of developed robust controller becomes very simple compared with that of regressor based adaptive controllers. It is shown that the Euclid norm of tracking errors can be arbitrarily reduced by using only one design parameter. Especially for a constant ideal trajectories, it is shown that Euclid norm of tracking errors converges to zero. Moreover, in the presence of quantization error in joint angle measurements, it is shown by numerical simulations and experiments that the proposed controller is more effective compared with the controller using Eular approximation of joint velocity.
一般社団法人日本機械学会の論文
2003-12-25