High-Gain Observer-Based Predictor for a Flexible Joint Robot with Input Delay

https://doi.org/10.58571/CNCA.AMCA.2023.050

Resumen: This article presents the prediction problem for uniformly observable nonlinear systems with input delay. The prediction problem is addressed using high-gain observer-based predictors. A modified Lyapunov-Krasovskii functional is used to analyze the exponential convergence of the prediction error. The predictor design and tuning are illustrated through a flexible joint robot with input delay.

¿Cómo citar?

Rojas-Ricca, Bryan; Mondie, Sabine; Castanos, Fernando; Garrido, Rubén. High-Gain Observer-Based Predictor for a Flexible Joint Robot with Input Delay. Memorias del Congreso Nacional de Control Automático, pp. 229-234, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.050

Palabras clave

Control de Sistemas No Lineales; Robótica y Mecatrónica

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