By Topic

Robot control via robust estimated state feedback

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
De Wit, C.C. ; Lab. d''Autom. de Grenoble, St. Martin D''Heres, France ; Fixot, N.

The problem of controlling a robot manipulator without needing the precise knowledge of the robot model physical parameters and by using only angular position feedback is considered. Sliding observers are used to estimate the link velocities. This observer and a nonlinear control law are modified, according to the Leitmann procedure, in order to face uncertainties on the robot model parameters and to yield locally exponentially closed-loop systems. The use of discontinuous functions seems to be necessary to reach exponential stability for this particular problem formulation. The same type of results would be difficult, if not impossible, to obtain using only nonlinear smooth functions because the switching terms generate a special kind of dynamics into the sliding patch, which is created only by the sign functions

Published in:

Automatic Control, IEEE Transactions on  (Volume:36 ,  Issue: 12 )