Object
Title: A variable structure observer for the control of robot manipulators
Group publication title:
Abstract:
This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. ; This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. ; The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Contributor:
Korbicz, Józef - red. ; Uciński, Dariusz - red.
Pages:
Source:
AMCS, volume 16, number 2 (2006)
Language:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Typy utworów > Artykuły
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Czasopisma naukowe wydawane na UZ > International Journal of Applied Mathematics and Computer Science (AMCS)
- Zielonogórska Biblioteka Cyfrowa > Repozytorium > Czasopisma naukowe wydawane na UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2006)
Last modified:
Aug 26, 2020
In our library since:
Aug 21, 2020
Number of object content hits:
4
All available object's versions:
https://www.zbc.uz.zgora.pl/publication/64089
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International Journal of Applied Mathematics and Computer Science (AMCS)
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| Edition name | Date |
|---|---|
| A variable structure observer for the control of robot manipulators | Aug 26, 2020 |