Title :
Nonlinear dynamic output feedback for an equilibrium robot
Author :
Aouchiche, K. ; Andréa-Novel, B.D.
Author_Institution :
Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France
Abstract :
We propose a stabilizing nonlinear controller-observer for an under-actuated mechanical system consisting of a 3-degrees-of-freedom robot arm with an inverted pendulum
Keywords :
feedback; nonlinear dynamical systems; observers; robots; robust control; 3-DOF robot arm; equilibrium robot; inverted pendulum; nonlinear dynamic output feedback; observer; stabilizing controller; under-actuated mechanical system; Control systems; Mechanical systems; Nonlinear dynamical systems; Observers; Output feedback; Robot kinematics; Robot sensing systems; Robotics and automation; State feedback; Torque control;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.390680
