Asymptotic observer design for constrained robot systems

DOI10.1049/IP-D.1991.0030MaRDI QIDQ3986449zbMATH OpenOpenAlexFDO

Authors

Publication date 27 June 1992

Published in IEE Proceedings D Control Theory and Applications (Search for Journal in Brave)

Full work available at URL https://semanticscholar.org/paper/3d46999acae9e880219ca3bb008f5b9b506e2cd6

zbMATH Keywords

constrained robot Lagrange equations

Mathematics Subject Classification ID

Observability (93B07) System structure simplification (93B11) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(3)

• Force/position regulation for robot manipulators with unmeasurable velocities and uncertain gravity
• \(H_{\infty}\) filtering for descriptor systems with strict LMI conditions
• Decentralized control of cooperative robots without velocity-force measurements

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