Pd Control of robot with velocity estimation and uncertainties compensation

@article{Yu2006PdCO,
  title={Pd Control of robot with velocity estimation and uncertainties compensation},
  author={Wen Yu and Xiaoou Li},
  journal={I. J. Robotics and Automation},
  year={2006},
  volume={21}
}
Normal industrial PD control of robot has two drawbacks, it needs joint velocity sensors; it cannot guarantee zero steady state error. In this paper we make two modifications to overcome these problems. High-gain observer is applied to estimate the joint velocities, and a RBF neural network is used to compensate gravity and friction. We give a new proof for high-gain observer, which explains a direct relation between observer gain and observer error. Based on Lyapunov-like analysis, we also… CONTINUE READING
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2015 12th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) • 2015
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