TY - GEN
T1 - Robust H-infinity trajectory tracking controller for a 6 D.O.F PUMA 560 robot manipulator
AU - Khelfi, M. F.
AU - Abdessameud, A.
PY - 2007
Y1 - 2007
N2 - This paper deals with the design problem of an H∞ observer for robot manipulators in the presence of external perturbations. The proposed scheme is an application of an H∞ filter to the class of robotic manipulator systems in order to guarantee disturbance attenuation of the observation error and the asymptotic stabilization of the estimation error. Using a stabilizing control law, a stabilization result based on the weak detectability of the system is obtained and the semi-global asymptotic stability of the equilibrium point of the combined system is shown. Simulation results on a six D-O-F PUMA 560 robot manipulator show the asymptotic convergence of the reconstruction and tracking error vectors.
AB - This paper deals with the design problem of an H∞ observer for robot manipulators in the presence of external perturbations. The proposed scheme is an application of an H∞ filter to the class of robotic manipulator systems in order to guarantee disturbance attenuation of the observation error and the asymptotic stabilization of the estimation error. Using a stabilizing control law, a stabilization result based on the weak detectability of the system is obtained and the semi-global asymptotic stability of the equilibrium point of the combined system is shown. Simulation results on a six D-O-F PUMA 560 robot manipulator show the asymptotic convergence of the reconstruction and tracking error vectors.
UR - http://www.scopus.com/inward/record.url?scp=35048856484&partnerID=8YFLogxK
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U2 - 10.1109/IEMDC.2007.383558
DO - 10.1109/IEMDC.2007.383558
M3 - Conference contribution
AN - SCOPUS:35048856484
SN - 1424407435
SN - 9781424407439
T3 - Proceedings of IEEE International Electric Machines and Drives Conference, IEMDC 2007
SP - 88
EP - 94
BT - Proceedings of 2007 IEEE International Electric Machines and Drives Conference, IEMDC 2007
T2 - IEEE International Electric Machines and Drives Conference, IEMDC 2007
Y2 - 3 May 2007 through 5 May 2007
ER -