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Image-Based Robust Output Feedback Control of Robot Manipulators using High-Gain Observer
고이득 관측기를 이용한 영상기반 로봇 매니퓰레이터의 출력궤환 강인제어
2013
Journal of Institute of Control Robotics and Systems
고이득 관측기를 이용한 영상기반 로봇 매니퓰레이터의 출력궤환 강인제어
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