Abstract
In this article, we show a derivation of an uncertain system of a two-link RR manipulator with uncertainties in the two rotation angles of each joint. For this system, we apply a guaranteed cost control based on a linear upper bound. In our method, uncertainties are included in the state, input, and also output matrices. Parameter tuning of γ i in the linear upper bound is effective in designing a feedback gain which has appropriate characteristics. In the numerical simulation, we show that the state observer is effective at reducing the influence of signal noise in a state vector.
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This work was presented in part at the 16th International Symposium on Artificial Life and Robotics, Oita, Japan, January 27–29, 2011
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Takahashi, N., Yokomichi, M., Sato, O. et al. Observer-based control of a manipulator system with structured uncertainty. Artif Life Robotics 16, 234–238 (2011). https://doi.org/10.1007/s10015-011-0926-8
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DOI: https://doi.org/10.1007/s10015-011-0926-8