Reduced-order observer-based point-to-point and trajectory controllers for robot manipulators

Abstract

This paper presents a design procedure for a reduced-order observer-based controller dedicated to n-joint robot manipulators. It is assumed that only the joint angular positions are measured. The joint angular velocities are estimated via an exponential reduced-order observer. Two types of control laws based on this observer are studied: point-to-point control with gravity compensation and trajectory control. Sufficient conditions to ensure the closed-loop stability are given. Performances of the reduced-order observer used with these two control laws are illustrated in a simulation study of a two-degrees-of-freedom robot manipulator.

Cite this paper

@inproceedings{Khelfi2017ReducedorderOP, title={Reduced-order observer-based point-to-point and trajectory controllers for robot manipulators}, author={M. F. Khelfi and Michel Zasadzinski and Hugues Rafaralahy and Edouard Richard and Mohamed Darouach}, year={2017} }