# A variable structure observer for the control of robot manipulators

Abdelkader Abdessameud; Mohamed Khelfi

International Journal of Applied Mathematics and Computer Science (2006)

- Volume: 16, Issue: 2, page 189-196
- ISSN: 1641-876X

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topAbdessameud, Abdelkader, and Khelfi, Mohamed. "A variable structure observer for the control of robot manipulators." International Journal of Applied Mathematics and Computer Science 16.2 (2006): 189-196. <http://eudml.org/doc/207784>.

@article{Abdessameud2006,

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 andor 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.},

author = {Abdessameud, Abdelkader, Khelfi, Mohamed},

journal = {International Journal of Applied Mathematics and Computer Science},

keywords = {exponential stability; switching-type observers; tracking control; variable structure observers; rigid robot manipulators},

language = {eng},

number = {2},

pages = {189-196},

title = {A variable structure observer for the control of robot manipulators},

url = {http://eudml.org/doc/207784},

volume = {16},

year = {2006},

}

TY - JOUR

AU - Abdessameud, Abdelkader

AU - Khelfi, Mohamed

TI - A variable structure observer for the control of robot manipulators

JO - International Journal of Applied Mathematics and Computer Science

PY - 2006

VL - 16

IS - 2

SP - 189

EP - 196

AB - 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 andor 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.

LA - eng

KW - exponential stability; switching-type observers; tracking control; variable structure observers; rigid robot manipulators

UR - http://eudml.org/doc/207784

ER -

## References

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## Citations in EuDML Documents

top- Antonio Yarza, Victor Santibanez, Javier Moreno-Valenzuela, An adaptive output feedback motion tracking controller for robot manipulators: uniform global asymptotic stability and experimentation
- Benoît Schwaller, Denis Ensminger, Birgitta Dresp-Langley, José Ragot, State estimation for a class of nonlinear systems

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