A nonlinear observer for flexible joint robots
Date
Authors
Type
folyóiratcikk
Publisher
Budapest University of Technology and Economics
Reading access rights:
Open access
ISSN, e-ISSN
0324-6051
1587-379x
1587-379x
Periodical Number
2
Periodical Volume
46
Container Title
Periodica Polytechnica - Mechanical Engineering
Version
Kiadói változat
First Page
127
Subject (OSZKAR)
flexible joints
nonlinear systems
nonlinear observers
exponential stability
nonlinear systems
nonlinear observers
exponential stability
Gender
Tudományos cikk
- Cite this item
- http://hdl.handle.net/10890/3252
OOC works
Abstract
This paper presents the design of a kind of semiglobal nonlinear observers for flexible joint robots which needs the measurements of the positions of each motor rotor and link. For the proposed observer, the error equation is locally exponentially stable about the origin, with a region of convergence which may be arbitrarily enlarged by a suitable choice of the observer gain. The results are illustrated by simulation examples.