Robust Output Feedback Control for Robot Manipulators

Resumen: Most robust control schemes for rigid robots assume velocities measurements to be available. A solution to this problem is by using tachometers, however, this can increase the cost and the velocities signals obtained can be contaminated with noise. These facts motivates us to design a control and observer scheme to solve the tracking position problem without measurement of velocities joints of a manipulator robot. This work presents a robust control scheme designed in conjunction with an observer for rigid robots. Additionally, the control scheme does not need to know the dynamic model of the manipulator. Particular emphasis is placed on the experimental results, which validate the proposed control algorithm.

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Mauro López, Javier Pliego, Marco Arteaga, Emmanuel Nuño & Amalinalli Ortíz. Robust Output Feedback Control for Robot Manipulators. Memorias del Congreso Nacional de Control Automático, pp. 249-253, 2018.

Palabras clave

Observer, robust control

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