Trajectory Tracking Control for Flexible-Joint Robot Based on Extended Kalman Filter and PD Control
نویسندگان
چکیده
منابع مشابه
Nonlinear H Control for Uncertain Flexible Joint Robots with Unscented Kalman Filter
Todays, use of combination of two or more methods was considered to control of systems. In this paper ispresented how to design of a nonlinear H∞ (NL-H∞) controller for flexible joint robot (FJR) based on boundedUKF state estimator. The UKF has more advantages to standard EKF such as low bios and no need toderivations. In this research, based on spong primary model for FJRs, same as rigid robot...
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ژورنال
عنوان ژورنال: Frontiers in Neurorobotics
سال: 2019
ISSN: 1662-5218
DOI: 10.3389/fnbot.2019.00025