Please use this identifier to cite or link to this item: https://doi.org/10.1109/IROS.2005.1545517
Title: Robust observer-based controller and its application in robot control
Authors: Xia, Q.H.
Lim, S.Y.
Ang Jr., M.H. 
Lim, T.M.
Keywords: Backwards difference
Integrator backstep-ping
Operational space
Robust velocity observer
Issue Date: 2005
Source: Xia, Q.H.,Lim, S.Y.,Ang Jr., M.H.,Lim, T.M. (2005). Robust observer-based controller and its application in robot control. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS : 3530-3535. ScholarBank@NUS Repository. https://doi.org/10.1109/IROS.2005.1545517
Abstract: In this paper, we present a robust observer-based controller (ROC) for robot manipulators to achieve robust velocity estimation and better operational space tracking performance. Without link velocity measurements, the overall ROC system can achieve a semi-global asymptotical stability result for the position and velocity tracking errors, and position and velocity estimation errors. Experimental results using PUMA 560 indicate that the proposed ROC is able to obtain more accurate and less ripple velocity estimation than that obtained from an observer-controller, hence higher tracking performance can be achieved. © 2005 IEEE.
Source Title: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
URI: http://scholarbank.nus.edu.sg/handle/10635/73825
ISBN: 0780389123
DOI: 10.1109/IROS.2005.1545517
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