Nonlinear observer design for robot manipulators. A survey

A. Abdessameud; M. F. Khelfi

doi:10.1016/S1474-6670(17)33398-0

Nonlinear observer design for robot manipulators. A survey

A. Abdessameud, M. F. Khelfi

School of Science, Engineering & Technology (Harrisburg)

Research output: Contribution to journal › Conference article › peer-review

Abstract

This paper deals with the nonlinear observation theory as it is applied to the class of rigid robot manipulator systems. A survey based on results and design approaches of nonlinear observers for this class of nonlinear systems is presented. We cannot make an analytic comparative study of the proposed methods since they are conceptually different. However, we try to provide the reader insight into (he performance of each method based on experimental results found in literature, and through simulation analysis on a 2-DOF-robot.

Original language	English (US)
Pages (from-to)	229-234
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	36
Issue number	17
DOIs	https://doi.org/10.1016/S1474-6670(17)33398-0
State	Published - 2003
Event	7th IFAC Symposium on Robot Control, SYROCO 2003 - Wroclaw, Poland Duration: Sep 1 2003 → Sep 3 2003

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

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10.1016/S1474-6670(17)33398-0

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title = "Nonlinear observer design for robot manipulators. A survey",

abstract = "This paper deals with the nonlinear observation theory as it is applied to the class of rigid robot manipulator systems. A survey based on results and design approaches of nonlinear observers for this class of nonlinear systems is presented. We cannot make an analytic comparative study of the proposed methods since they are conceptually different. However, we try to provide the reader insight into (he performance of each method based on experimental results found in literature, and through simulation analysis on a 2-DOF-robot.",

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AU - Khelfi, M. F.

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AB - This paper deals with the nonlinear observation theory as it is applied to the class of rigid robot manipulator systems. A survey based on results and design approaches of nonlinear observers for this class of nonlinear systems is presented. We cannot make an analytic comparative study of the proposed methods since they are conceptually different. However, we try to provide the reader insight into (he performance of each method based on experimental results found in literature, and through simulation analysis on a 2-DOF-robot.

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DO - 10.1016/S1474-6670(17)33398-0

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SP - 229

EP - 234

JO - IFAC Proceedings Volumes (IFAC-PapersOnline)

JF - IFAC Proceedings Volumes (IFAC-PapersOnline)

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T2 - 7th IFAC Symposium on Robot Control, SYROCO 2003

Y2 - 1 September 2003 through 3 September 2003

ER -

Nonlinear observer design for robot manipulators. A survey

Abstract

All Science Journal Classification (ASJC) codes

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