Year-end Sale % OFF 
Abstract
The estimation problem of the angular link velocity via a nonlinear high-gain observer is considered. It is solved in the presence of essential parametric uncertainty and external noise perturbations based only on current position measurements. The obtained state space estimation error turns out to be robust with respect to given uncertainties, and its bound can be expressed by a linear combination of the internal (parametric) and external (noise type) uncertainty levels. The simulation results, concerning a robot manipulator with two degrees of mobility and with unknown friction parameter subjected to variations within a given interval, illustrate the effectiveness of the suggested technique.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
