A High'Gain Observer-Based PD Manipulator Control for Robot
نویسندگان
چکیده
In this paper, the popular PD control of robot manipulator is modified. A high-gain observer is proposed for the estimation of the velocity. The main contributions of this paper are: (1) By means of singular perturbation analysis, we prove that the closed-loop system is asymptotic stable; (2) We solve the problem of how faster the observer should be than the observer-based control. server's dynamic) and a slow subsystem (PD controller and the robot 's dynamic). We prove that observer error and tracking error are stable. Taking advantage of the results in [12], we give a necessary condition of the asymptotic stability for PD control. This condition corresponds to the minimum convergence speed of high-gain observer.
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