The paper deals with the state and parameter estimation of robots having elastic joints. The estimation of the unknown parameters of the robot is reduced to the estimation of its state variables by a state space immersion. The Luenberger observer is used in the state estimation of the extended robot model. The use of high gains is studied in the cancellation of nonlinearities in order to simplify the observer design. The high gain induces a time scale separation between the robot model and the observer and therefore the singular perturbation theory can be used in the stability analysis of the estimate error dynamics. In particular, it is shown that the error dynamics reaches the stable equilibrium in a very fast transient ensuring that the slow dynamics of the observer is just that of the given robot. © 1989.

Nicosia, S., Tornambè, A. (1989). High-gain observers in the state and parameter estimation of robots having elastic joints. SYSTEMS & CONTROL LETTERS, 13(4), 331-337 [10.1016/0167-6911(89)90121-7].

High-gain observers in the state and parameter estimation of robots having elastic joints

Nicosia, Salvatore;Tornambè, Antonio
1989

Abstract

The paper deals with the state and parameter estimation of robots having elastic joints. The estimation of the unknown parameters of the robot is reduced to the estimation of its state variables by a state space immersion. The Luenberger observer is used in the state estimation of the extended robot model. The use of high gains is studied in the cancellation of nonlinearities in order to simplify the observer design. The high gain induces a time scale separation between the robot model and the observer and therefore the singular perturbation theory can be used in the stability analysis of the estimate error dynamics. In particular, it is shown that the error dynamics reaches the stable equilibrium in a very fast transient ensuring that the slow dynamics of the observer is just that of the given robot. © 1989.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - Automatica
English
elastic robots; High gain; observers; parameter estimation; singular perturbation theory; Control and Systems Engineering; Computer Science (all); Mechanical Engineering; Electrical and Electronic Engineering
Nicosia, S., Tornambè, A. (1989). High-gain observers in the state and parameter estimation of robots having elastic joints. SYSTEMS & CONTROL LETTERS, 13(4), 331-337 [10.1016/0167-6911(89)90121-7].
Nicosia, S; Tornambè, A
Articolo su rivista
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/193849
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 101
  • ???jsp.display-item.citation.isi??? ND
social impact