Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Image-Based Robust Output Feedback Control of Robot Manipulators using High-Gain Observer

고이득 관측기를 이용한 영상기반 로봇 매니퓰레이터의 출력궤환 강인제어

  • Jeon, Yeong-Beom (Dept. of Avionics Engineering, Korea Aerospace University) ;
  • Jang, Ki-Dong (Dept. of Information Electronics Engineering, Dong Yang Mirae University) ;
  • Lee, Kang-Woong (Dept. of Avionics Engineering, Korea Aerospace University)
  • 전영범 (한국항공대학교 항공전자공학과) ;
  • 장기동 (동양미래대학교 정보전자과) ;
  • 이강웅 (한국항공대학교 항공전자공학과)
  • Received : 2013.03.04
  • Accepted : 2013.06.13
  • Published : 2013.08.01
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Abstract

In this paper, we propose an image-based output feedback robust controller of robot manipulators which have bounded parametric uncertainty. The proposed controller contains an integral action and high-gain observer in order to improve steady state error of joint position and performance deterioration due to measurement errors of joint velocity. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulations on a 5-link robot manipulators with two degrees of freedom.

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References

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