A Luenberger-style Observer for Robot Manipulators with Position Measurements

@article{Celani2006ALO,
  title={A Luenberger-style Observer for Robot Manipulators with Position Measurements},
  author={Fabio Celani},
  journal={2006 14th Mediterranean Conference on Control and Automation},
  year={2006},
  pages={1-6}
}
  • Fabio Celani
  • Published 2006 in
    2006 14th Mediterranean Conference on Control and…
This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the observer converges globally and exponentially. Comparisons and relations between the proposed observer and existing ones are discussed. The effectiveness of the observer is illustrated by a simulation for the Pendubot, an underactuated two-joint manipulator 

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