IEEE - Institute of Electrical and Electronics Engineers, Inc. - Manipulator Control with an Exponentially Stable Velocity Observer

1992 American Control Conference

Author(s): Mile Erlic ; W.-S. Lu
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 1992
Conference Location: Chicago, IL, USA, USA
Conference Date: 24 June 1992
Page(s): 1,241 - 1,242
ISBN (Paper): 0-7803-0210-9
DOI: 10.23919/ACC.1992.4792295
Regular:

In this paper, a reduced order manipulator velocity observer is presented. The observer is used to provide a smooth velocity estimate for a computed torque controller. By using a Lyapunov... View More

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