Global stability of PD+ controller with velocity estimation


This paper addresses the demonstration of global asymptotic convergence for the PD+ compensator. The proposed strategy is developed for a Robotic Manipulator process, which is a typical Electro-Mechanical System (when only the joint positions are available to be measured). It is well known that in the case of robot manipulators, the optical incremental… (More)
DOI: 10.1109/CDC.2014.7039784


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