PASSIVITY-BASED CONTROLLER– OBSERVER FOR ROBOT MANIPULATORS

F. Bouakrif, D. Boukhetala, and F. Boudjema

Keywords

Passivitybased control, robot manipulators, velocity observer

Abstract

This paper presents a velocity-observer-based trajectory tracking control for rigid robot manipulators that are not equipped by tachometers for velocity measurement. A remarkable feature of this observer–controller is that it originates from energy reshaping arguments, by analogy with the passivity-based methodology to robot control. Under assumption that the velocities are bounded, we give new proofs of guaranteed semi-global asymptotic stability of the whole control system (robot plus controller plus observer) that the observer gain constant satisfies suitable inequality. In addition, the passivity interpretation of the stability of the closed-loop system has also been given. Simulation results on two-link manipulator show the asymptotic convergence of the vectors of observation and tracking errors.

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