An observer-based design for robust control of robot manipulators

Walter Grossman, Farshad Khorrami, Bernard Friedland

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages731-736
Number of pages6
StatePublished - May 1990
EventProceedings of the 1990 American Control Conference - San Diego, CA, USA
Duration: May 23 1990May 25 1990

Other

OtherProceedings of the 1990 American Control Conference
CitySan Diego, CA, USA
Period5/23/905/25/90

Fingerprint

Feedback linearization
Robust control
Manipulators
Robots
Feedback control
Nonlinear systems
Control systems
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Grossman, W., Khorrami, F., & Friedland, B. (1990). An observer-based design for robust control of robot manipulators. In Proceedings of the American Control Conference (pp. 731-736)

An observer-based design for robust control of robot manipulators. / Grossman, Walter; Khorrami, Farshad; Friedland, Bernard.

Proceedings of the American Control Conference. 1990. p. 731-736.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Grossman, W, Khorrami, F & Friedland, B 1990, An observer-based design for robust control of robot manipulators. in Proceedings of the American Control Conference. pp. 731-736, Proceedings of the 1990 American Control Conference, San Diego, CA, USA, 5/23/90.
Grossman W, Khorrami F, Friedland B. An observer-based design for robust control of robot manipulators. In Proceedings of the American Control Conference. 1990. p. 731-736
Grossman, Walter ; Khorrami, Farshad ; Friedland, Bernard. / An observer-based design for robust control of robot manipulators. Proceedings of the American Control Conference. 1990. pp. 731-736
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