This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the observer converges globally and exponentially. Comparisons and relations between the proposed observer and existing ones are discussed. The effectiveness of the observer is illustrated by a simulation for the Pendubot, an underactuated two-joint manipulator.

A Luenberger-style observer for robot manipulators with position measurements / Celani, Fabio. - (2006), pp. 87-92. (Intervento presentato al convegno 14th Mediterranean conference on control and automation tenutosi a Ancona; Italy) [10.1109/MED.2006.328806].

A Luenberger-style observer for robot manipulators with position measurements

CELANI, FABIO
2006

Abstract

This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the observer converges globally and exponentially. Comparisons and relations between the proposed observer and existing ones are discussed. The effectiveness of the observer is illustrated by a simulation for the Pendubot, an underactuated two-joint manipulator.
2006
14th Mediterranean conference on control and automation
observer, robot manipulators, Pendubot
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
A Luenberger-style observer for robot manipulators with position measurements / Celani, Fabio. - (2006), pp. 87-92. (Intervento presentato al convegno 14th Mediterranean conference on control and automation tenutosi a Ancona; Italy) [10.1109/MED.2006.328806].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/218026
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