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Technical Brief

Nonlinear robust output stabilization for mechanical systems based on Luenberger-like controller/observer

[+] Author and Article Information
Patricio Ordaz-Oliver

Research Center on Technology of Information and Systems (CITIS) Autonomous University of Hidalgo State (UAEH), México Engineer School, LaSalle-Pachuca University, México
jesus_ordaz@uaeh.edu.mx

1Corresponding author.

ASME doi:10.1115/1.4036227 History: Received October 26, 2015; Revised January 11, 2017

Abstract

This paper addresses to demonstrate the Uniform-Ultimately Bounded Stability (UUB-Stability) of the PD+ compensator where the joint velocity is not available to be measured but rather it is estimated. The proposed stabilization control strategy is developed for a “n” degree of freedom Robotic Manipulator process where the joint speed is not available to be measured, furthermore, the external disturbances and/or uncertain dynamics are considered in the system dynamics. To conclude the closed-loop robust stabilization, the proposed feedback strategy is based on nonlinear state estimation with a Luenberger-like observer and the classical PD+ used in robot manipulators.

Copyright (c) 2017 by ASME
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