Disturbance attenuation and trajectory tracking via a reduced-order output feedback controller for robot manipulators (Q1294994)

The authors present a systematic method for trajectory tracking without velocity measurement of an \(n\)-joint rigid robot manipulator. They propose a controller which provides a solution to the problem of external disturbance attenuation (in the sense of \(L_2\)-gain), and which guarantees semi-global asymptotic stability of the closed loop system. The authors' approach requires the solution to two algebraic Riccati inequalities (to determine controller gains), but avoids the need to solve a Hamilton-Jacobi equation. The closed loop stability analysis is addressed via Lyapunov theory; the authors identify a work domain inside the attractor domain. Finally, the authors use simulation results to show the feasibility and effectiveness of their proposed approach.