An observer-based design for robust control of robot manipulators

Walter Grossman; Farshad Khorrami; Bernard Friedland

doi:10.23919/acc.1990.4790830

An observer-based design for robust control of robot manipulators

Walter Grossman, Farshad Khorrami, Bernard Friedland

Electrical and Computer Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

A feedback linearization design for a class of nonlinear systems is described. The control system is an observer-based (full- or reduced-order) design that utilizes estimates of some of the states for both the exact feedback linearization and the linear outer-loop controller. In particular, the approach is applied to the dynamics of multilink robot manipulators. Simulation studies and experimental results on a two-link planar arm are given and contrasted to show the applicability of the proposed methodology. Some practical issues for real-time implementation of the feedback control algorithms are presented.

Original language	English (US)
Pages (from-to)	731-736
Number of pages	6
Journal	Proceedings of the American Control Conference
DOIs	https://doi.org/10.23919/acc.1990.4790830
State	Published - 1990
Event	Proceedings of the 1990 American Control Conference - San Diego, CA, USA Duration: May 23 1990 → May 25 1990

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.23919/acc.1990.4790830

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abstract = "A feedback linearization design for a class of nonlinear systems is described. The control system is an observer-based (full- or reduced-order) design that utilizes estimates of some of the states for both the exact feedback linearization and the linear outer-loop controller. In particular, the approach is applied to the dynamics of multilink robot manipulators. Simulation studies and experimental results on a two-link planar arm are given and contrasted to show the applicability of the proposed methodology. Some practical issues for real-time implementation of the feedback control algorithms are presented.",

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journal = "Proceedings of the American Control Conference",

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note = "Proceedings of the 1990 American Control Conference ; Conference date: 23-05-1990 Through 25-05-1990",

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AU - Khorrami, Farshad

AU - Friedland, Bernard

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N2 - A feedback linearization design for a class of nonlinear systems is described. The control system is an observer-based (full- or reduced-order) design that utilizes estimates of some of the states for both the exact feedback linearization and the linear outer-loop controller. In particular, the approach is applied to the dynamics of multilink robot manipulators. Simulation studies and experimental results on a two-link planar arm are given and contrasted to show the applicability of the proposed methodology. Some practical issues for real-time implementation of the feedback control algorithms are presented.

AB - A feedback linearization design for a class of nonlinear systems is described. The control system is an observer-based (full- or reduced-order) design that utilizes estimates of some of the states for both the exact feedback linearization and the linear outer-loop controller. In particular, the approach is applied to the dynamics of multilink robot manipulators. Simulation studies and experimental results on a two-link planar arm are given and contrasted to show the applicability of the proposed methodology. Some practical issues for real-time implementation of the feedback control algorithms are presented.

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JF - Proceedings of the American Control Conference

T2 - Proceedings of the 1990 American Control Conference

Y2 - 23 May 1990 through 25 May 1990

ER -

An observer-based design for robust control of robot manipulators

Abstract

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