This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts wh...
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This paper presents an approach for designing robust tracking controller for lumped mass model of a vibrating link (VL) robot manipulator. The control methodology is intuitively simple since it is based on concepts which are familiar to most control engineers. The approach is illustrated by developing a robust tracking controller that achieves global uniform ultimate boundedness (GUUB) stability of the link tracking error in spite of model uncertainty and the additional link dynamics.
A class of general structured discrete-time deterministic observers is developed. The one-step predicting or Luenberger observers and the current-update observers may be obtained from this class of general structured ...
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A class of general structured discrete-time deterministic observers is developed. The one-step predicting or Luenberger observers and the current-update observers may be obtained from this class of general structured ...
详细信息
A class of general structured discrete-time deterministic observers is developed. The one-step predicting or Luenberger observers and the current-update observers may be obtained from this class of general structured observers. Interesting relationships and important properties among various full-order observers are established. Optimal discrete-time observer gains are then derived, and it is shown that the optimal observers can be structually and numerically equivalent to various forms of Kalman filters.
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