Discrete-Time State Feedback With Velocity Estimation Using a Dual Observer: Application to an Underwater Direct-Drive Grinding Robot

Hydro-Quebec's Research Institute has designed a robot to perform grinding tasks on underwater structures. This unique system is equipped with direct-drive linear motors, which have many useful dynamic characteristics. Since they lack intrinsic stiffness, however, their robustness to external d...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2012-02, Vol.17 (1), p.187-191
Hauptverfasser:	Hamelin, Philippe, Bigras, Pascal, Beaudry, Julien, Richard, Pierre-Luc, Blain, Michel
Format:	Artikel
Sprache:	eng
Schlagworte:	Control systems Control theory Cutoff frequency Discrete-time perturbation observer (POB) Disturbances Dynamical systems Feedback Feeds grinding hydroelectric dams linear motors machine tool control Machine tools Mechatronics Observers Robots Robustness State observers
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