Robot Control Via Robust State Estimate Feedback

摘要

This note deals with the problem of controlling a robot manipulator without the needing the precise knowledge of the robot model physical parameters and by using only angular position feedback. Sliding observers are used here to estimate the link velocities. This observer together with a nonlinear control law are modified, according to the Leitmann procedure (Leitmann, 1981), in order to face uncertainties on the robot model parameters and to yield locally exponentially closed-loop systems.