DocumentCode
2100730
Title
Global regulation of flexible joint robots using approximate differentiation
Author
Kelly, R. ; Ortega, R. ; Ailon, A. ; Loria, A.
Author_Institution
CICESE, Mexico
fYear
1993
fDate
15-17 Dec 1993
Firstpage
617
Abstract
In a recent paper Tomei (1991) presented a globally asymptotically stable PD regulator for robots with flexible joints. A drawback of this scheme is that the noise in the velocity measurements degrades the performance. In this paper we show that the velocity measurement in Tomei´s scheme can be replaced by approximate differentiation preserving global asymptotic stability. Simulations that illustrate our result are presented
Keywords
closed loop systems; differentiation; robots; stability; two-term control; velocity measurement; PD regulator; Tomei scheme; approximate differentiation; closed loop system; flexible joint robots; global asymptotic stability; velocity measurement; Actuators; Asymptotic stability; Degradation; Linear matrix inequalities; Noise measurement; PD control; Regulators; Robot sensing systems; Symmetric matrices; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location
San Antonio, TX
Print_ISBN
0-7803-1298-8
Type
conf
DOI
10.1109/CDC.1993.325211
Filename
325211
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