PD output feedback control design for industrial robotic manipulators

@article{Islam2009PDOF,
  title={PD output feedback control design for industrial robotic manipulators},
  author={Shafiqul Islam and Peter Xiaoping Liu},
  journal={2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
  year={2009},
  pages={1539-1544}
}
This paper presents an output feedback PD-type controller for the trajectory tracking control of robotic manipulators. A linear observer is used to estimate the unknown velocity signals of the nonlinear manipulator. In the first part of this paper, we propose a PD-like output-feedback control law. The Lyapunov method is used to characterize the asymptotic property of all the signals in the closed-loop error model dynamics. This property sets the bound on the tracking error trajectory of the… CONTINUE READING

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