Image-Based Robust Output Feedback Control of Robot Manipulators using High-Gain Observer
고이득 관측기를 이용한 영상기반 로봇 매니퓰레이터의 출력궤환 강인제어

Yeong-Beom Jeon, Ki-Dong Jang, Kang-Woong Lee
2013 Journal of Institute of Control Robotics and Systems  
In this paper, we propose an image-based output feedback robust controller of robot manipulators which have bounded parametric uncertainty. The proposed controller contains an integral action and high-gain observer in order to improve steady state error of joint position and performance deterioration due to measurement errors of joint velocity. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulations on a 5-link robot manipulators with two degrees of freedom.
doi:10.5302/j.icros.2013.13.1892 fatcat:bq74vexsozeonn3vke6qchiszy