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

Abstract

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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.

How to cite

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Abdessameud, 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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