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http://dx.doi.org/10.5302/J.ICROS.2013.13.1892

Image-Based Robust Output Feedback Control of Robot Manipulators using High-Gain Observer  

Jeon, Yeong-Beom (Dept. of Avionics Engineering, Korea Aerospace University)
Jang, Ki-Dong (Dept. of Information Electronics Engineering, Dong Yang Mirae University)
Lee, Kang-Woong (Dept. of Avionics Engineering, Korea Aerospace University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.8, 2013 , pp. 731-737 More about this Journal
Abstract
In this paper, we propose an image-based output feedback robust controller of robot manipulators which have bounded parametric uncertainty. The proposed controller contains an integral action and high-gain observer in order to improve steady state error of joint position and performance deterioration due to measurement errors of joint velocity. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulations on a 5-link robot manipulators with two degrees of freedom.
Keywords
image-based robot control; robust control; high-gain observer; output feedback control;
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Times Cited By KSCI : 2  (Citation Analysis)
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