Title :
Reduced-order H∞ observer for robot manipulators
Author :
Khelfi, M.F. ; Zasadzinski, M. ; Darouach, M. ; Richard, E.
Author_Institution :
Nancy I Univ., France
Abstract :
This paper discusses a design procedure of an asymptotic reduced-order H∞ observer for a n-joint rigid robot manipulator. The possibility of estimating the joint angular velocities via the proposed observer is investigated, which provides an asymptotic convergence of the reconstruction error, and attenuates the effect of the external disturbances on the robot model
Keywords :
H∞ control; convergence; manipulators; observers; reduced order systems; asymptotic convergence; asymptotic reduced-order H∞ observer; joint angular velocity estimation; multijoint rigid robot manipulator; reconstruction error; Attenuation; H infinity control; Manipulators; Q measurement; Riccati equations; Robots;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.480221
