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

DOI10.1016/S0005-1098(98)80007-1zbMath0934.93016OpenAlexW2137930264MaRDI QIDQ1294994

M. F. Khelfi, Michel Zasadzinski, Edouard Richard, Mohamed Darouach

Publication date: 19 December 1999

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(98)80007-1

zbMATH Keywords

disturbance attenuation algebraic Riccati inequalities trajectory tracking output feedback controller reduced order rigid robot manipulator semi-global asymptotic stability

Mathematics Subject Classification ID

Feedback control (93B52) (H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85) System structure simplification (93B11)

Related Items (5)

Global output-feedback tracking and load disturbance rejection for electrically-driven robotic manipulators with uncertain dynamics ⋮ Observer-based tracking design using \(H_\infty\) criteria: application to eco-driving in a tramway system ⋮ An analytical framework in the general coalescent tree setting for analyzing polymorphisms created by two mutations ⋮ A simulated annealing approach to approximate Bayes computations ⋮ Finding the best resolution for the Kingman-Tajima coalescent: theory and applications

This page was built for publication: Disturbance attenuation and trajectory tracking via a reduced-order output feedback controller for robot manipulators