Title :
Global regulation of flexible joint robots using approximate differentiation
Author :
Kelly, R. ; Ortega, R. ; Ailon, A. ; Loria, A.
Author_Institution :
CICESE, Mexico
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;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325211
