Disturbance attenuation and trajectory tracking via a reduced-order output feedback controller for robot manipulators

Disturbance attenuation and trajectory tracking via a reduced-order output feedback controller for robot manipulators

This paper presents a solution to the problem of trajectory tracking with external disturbance attenuation in robotics systems via a reduced-order output feedback controller, without velocity measurement. The proposed control law ensures both asymptotic stability of the closed-loop system and extern...

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Veröffentlicht in:Automatica (Oxford) 1998, Vol.34 (12), p.1539-1546
Hauptverfasser: Zasadzinski, Michel, Richard, Edouard, Khelfi, Mohamed Fayçal, Darouach, Mohamed
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container_end_page 1546
container_issue 12
container_start_page 1539
container_title Automatica (Oxford)
container_volume 34
creator Zasadzinski, Michel
Richard, Edouard
Khelfi, Mohamed Fayçal
Darouach, Mohamed
description This paper presents a solution to the problem of trajectory tracking with external disturbance attenuation in robotics systems via a reduced-order output feedback controller, without velocity measurement. The proposed control law ensures both asymptotic stability of the closed-loop system and external disturbance attenuation. The approach is based on the notion of the L_2-gain and requires to solve two algebraic Riccati inequalities. The proposed controller design is illustrated by a simulation example.
doi_str_mv 10.1016/S0005-1098(03)00006-2
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title Disturbance attenuation and trajectory tracking via a reduced-order output feedback controller for robot manipulators
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