각도 측정치만을 이용한 로봇을 위한 강인한 제어기 설계

Robust Linear Tracking Controller Design for Manipulators Using Only Position Measurements

In this note, we propose a method for designing a robot controller which can suppress the effects of both the model uncertainty and noisy velocity measurements. The controller is an output feedback compensator of which the constant gains are given in terms of a Riccati equation and a Lyapunov equation. The controller guarantees not only uniform boundedness but uniform ultimate boundedness. The stability result is local but the region can be arbitrarily enlarged at the expense of large control gain. The control law needs neither the exact knowledge of the physical robot parameters nor clean velocity measurements.