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Observer based feedback control strategies for collaborative robots

M.N., Karsiti and S., Ahmed and J.B., Cruz (2007) Observer based feedback control strategies for collaborative robots. In: 2007 International Conference on Intelligent and Advanced Systems, ICIAS 2007, 25 November 2007 through 28 November 2007, Kuala Lumpur.

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Abstract

This paper presents observer based feedback control strategies for nonholonomic collaborative robots. The collaborative robot system uses the leader-follower formation controller. The observer based feedback strategies are presented for the leader robot. The control inputs for the follower robot are derived based on input-output linearization techniques. The system is modeled using Simulink and simulation results are presented. From the simulation results, it can be seen that the error for observer based feedback controller converges rapidly to zero. Furthermore, the observer based feedback controller results in a K-exponentially stable system. The work presented here is an initial study concerning the design of observer feedback controllers for nonholonomic collaborative robots. ©2007 IEEE.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:Feedback control; Linearization; Machine design; Nonlinear control systems; Robotics; Robots; Control inputs; Exponentially stables; Feedback strategies; Leader-follower formation; Linearization techniques; Nonholonomic collaborative robots; Observer feedback controller; Observer-based feedback controls; Simulation results; Simulink; Feedback
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments / MOR / COE:Departments > Electrical & Electronic Engineering
ID Code:386
Deposited By: Assoc Prof Dr Mohd Noh Karsiti
Deposited On:09 Mar 2010 01:07
Last Modified:19 Jan 2017 08:27

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