State observer-based robust control scheme for electrically driven robot manipulators
スポンサーリンク
概要
- 論文の詳細を見る
By using a state observer, a new robust trajectory tracking control scheme is developed in this paper for electrically driven robot manipulators. The role of the observer is to estimate joint angular velocities. The proposed controller does not employ adaptation, but assures robust stability of tracking error between joint angles and desired trajectories. At sacrificing asymptotical stability of the tracking errors, the configuration of the proposed controller becomes very simple, compared with regressor-based adaptive controllers. It is shown in the closed-loop system using the proposed controller that the Euclidian norm of tracking errors arrives at any small closed region with any convergent rate by setting only one design parameter. Especially for the desired trajectories converging to constant ultimate values, it is assured that tracking errors converge to zero.
- Institute of Electrical and Electronics Engineersの論文
Institute of Electrical and Electronics Engineers | 論文
- Ambipolar Coulomb Blockade Characteristics in a Two-Dimensional Si Multidot Device
- Achieving efficiency and portability in systems software: a case study on POSIX-compliant multithreaded programs
- Generalized Wigner-Yanase skew information and generalized Fisher information
- A generalized skew information and uncertainty relation
- Simultaneous Imaging of Artery-Wall Strain and Blood Flow by High Frame Rate Acquisition of RF Signals