Output based control for an underactuated system: experimental results

R. Steen, van der; H. Nijmeijer

doi:10.3182/20050703-6-CZ-1902.00721

Output based control for an underactuated system: experimental results

R. Steen, van der, H. Nijmeijer

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Abstract

This paper considers output based tracking control for an experimental underactuated H-drive manipulator. This manipulator can be transformed into a so-called second-order chained form by a coordinate- and feedback transformation. An observer is proposed to solve the output feedback problem for systems in second-order chained form. For the designed observer global stability of the closed loop system is proved. Due to friction in the unactuated rotational joint the closed loop system is no longer asymptotically stable, but with a heuristic modification of the observer both the tracking and observer errors are bounded. Experimental results show the validity of this approach.

Original language	English
Title of host publication	Proceedings of the 16th IFAC World Congress, July 4-8, 2005, Prague, Czech Republic
Publisher	Elsevier
Pages	CD-ROM, 6 pages
DOIs	https://doi.org/10.3182/20050703-6-CZ-1902.00721
Publication status	Published - 2005

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title = "Output based control for an underactuated system: experimental results",

abstract = "This paper considers output based tracking control for an experimental underactuated H-drive manipulator. This manipulator can be transformed into a so-called second-order chained form by a coordinate- and feedback transformation. An observer is proposed to solve the output feedback problem for systems in second-order chained form. For the designed observer global stability of the closed loop system is proved. Due to friction in the unactuated rotational joint the closed loop system is no longer asymptotically stable, but with a heuristic modification of the observer both the tracking and observer errors are bounded. Experimental results show the validity of this approach.",

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AB - This paper considers output based tracking control for an experimental underactuated H-drive manipulator. This manipulator can be transformed into a so-called second-order chained form by a coordinate- and feedback transformation. An observer is proposed to solve the output feedback problem for systems in second-order chained form. For the designed observer global stability of the closed loop system is proved. Due to friction in the unactuated rotational joint the closed loop system is no longer asymptotically stable, but with a heuristic modification of the observer both the tracking and observer errors are bounded. Experimental results show the validity of this approach.

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DO - 10.3182/20050703-6-CZ-1902.00721

M3 - Conference contribution

SP - CD-ROM, 6 pages

BT - Proceedings of the 16th IFAC World Congress, July 4-8, 2005, Prague, Czech Republic

PB - Elsevier

ER -

Output based control for an underactuated system: experimental results

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