Please use this identifier to cite or link to this item: https://doi.org/10.1109/IROS.2005.1545517
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dc.titleRobust observer-based controller and its application in robot control
dc.contributor.authorXia, Q.H.
dc.contributor.authorLim, S.Y.
dc.contributor.authorAng Jr., M.H.
dc.contributor.authorLim, T.M.
dc.date.accessioned2014-06-19T05:39:47Z
dc.date.available2014-06-19T05:39:47Z
dc.date.issued2005
dc.identifier.citationXia, 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. <a href="https://doi.org/10.1109/IROS.2005.1545517" target="_blank">https://doi.org/10.1109/IROS.2005.1545517</a>
dc.identifier.isbn0780389123
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/73825
dc.description.abstractIn 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/IROS.2005.1545517
dc.sourceScopus
dc.subjectBackwards difference
dc.subjectIntegrator backstep-ping
dc.subjectOperational space
dc.subjectRobust velocity observer
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/IROS.2005.1545517
dc.description.sourcetitle2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
dc.description.page3530-3535
dc.identifier.isiutNOT_IN_WOS
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