Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: A variable structure observer for the control of robot manipulators
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. ; This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. ; The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 16, number 2 (2006) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2006)
Last modified:
Jul 14, 2025
In our library since:
Aug 21, 2020
Number of object content hits:
206
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64089
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16, number 1 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16, number 2 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16, number 3 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16, number 4 (2006)
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| Edition name | Date |
|---|---|
| A variable structure observer for the control of robot manipulators | Jul 14, 2025 |
Objects Similar
Ahmed, Anis Brdyś, Mieczysław A. Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
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Thuan, Mai Viet Phat, Vu Ngoc Trinh, Hieu Cordón, Oskar - ed. Kazienko, Przemysław - ed.
Zhai, Guisheng Xu, Xuping Lin, Hai Lui, Derong Korbicz, Józef (1951- ) - red.
Liu, Yang Yang, Rongjiang Lu, Jianquan Wu, Bo Cai, Xiushan Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Martins, Valérie Santos dos Rodrigues, Mickael Diagne, Mamadou Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Galicki, Mirosław Jurczak, Paweł - red.
