This paper addresses to demonstrate the uniform-ultimately bounded stability (uniformly-ultimately-bounded (UUB)-stability) of the proportional derivative (PD+) compensator where, the joint velocity is not available to be measured but rather it is estimated. The proposed stabilization control strategy is developed for a “n” degrees-of-freedom (DOF) robotic manipulator process, where the joint speed is not available to be measured; furthermore, the external disturbances and/or uncertain dynamics are considered in the system dynamics. To conclude the closed-loop robust stabilization, the proposed feedback strategy is based on the nonlinear state estimation with a Luenberger-like observer and the classical PD+ used in robot manipulators.

Issue Section:
Technical Brief
Keywords:
Mechatronics, Nonlinear systems, Robotics, Uncertain systems , Control, Robust control
Topics:
Control equipment, Dynamics (Mechanics), Errors, Feedback, Manipulators, Mechatronics, Nonlinear systems, Scalars, Stability, State estimation, System dynamics, Degrees of freedom, Robotics, Robust control, Uncertain systems, Robots, Inertia (Mechanics)

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