Disturbance attenuation and trajectory tracking via a reduced-order output feedback controller for robot manipulators

Michel Zasadzinski (1) , Edouard Richard (1) , Mohamed Fayçal Khelfi (1) , Mohamed Darouach (1)

1 CRAN - Centre de Recherche en Automatique de Nancy

This paper presents a solution to the problem of trajectory tracking with external disturbance attenuation in robotics systems via a reduced-order output feedback controller, without velocity measurement. The proposed control law ensures both asymptotic stability of the closed-loop system and external disturbance attenuation. The approach is based on the notion of the L_2-gain and requires to solve two algebraic Riccati inequalities. The proposed controller design is illustrated by a simulation example.

Mots clés: Rigid robot manipulator; Reduced-order output feedback controller; Trajectory tracking; Asymptotic stability; L_2-gain; Disturbance attenuation; Algebraic Riccati inequalities

Domaines: Automatique / Robotique

Michel Zasadzinski, Edouard Richard, Mohamed Fayçal Khelfi, Mohamed Darouach. Disturbance attenuation and trajectory tracking via a reduced-order output feedback controller for robot manipulators. Automatica, 1998, 34 (12), pp.1539-1546. ⟨10.1016/S0005-1098(03)00006-2⟩. ⟨hal-00098139⟩