An experimental Comparison of State Observers for the Control of a Parallel Manipulator Without Velocity Measurements

Abstract : This paper deals with the problem of unavailability of velocity measurements for the control of parallel manipulators for pick-and-place applications. As most controllers require the measurement of the joint positions as well as joint velocities, the latter need to be estimated. Three observers have been implemented while keeping the same nonlinear controller: a Lead-lag filter based observer, an Alpha-beta-gamma observer and a High-gain observer. The resulting performances obtained in Real-time experiments by each observer have been detailed and compared.
Type de document :
Communication dans un congrès
IROS: Intelligent RObots and Systems, Oct 2010, Taipei, Taiwan. pp.2301-2306, 2010, 〈10.1109/IROS.2010.5650400〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00545491
Contributeur : Martine Peridier <>
Soumis le : vendredi 10 décembre 2010 - 13:43:29
Dernière modification le : mardi 17 juillet 2018 - 15:54:03

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Guilherme Sartori Natal, Ahmed Chemori, François Pierrot, Olivier Company. An experimental Comparison of State Observers for the Control of a Parallel Manipulator Without Velocity Measurements. IROS: Intelligent RObots and Systems, Oct 2010, Taipei, Taiwan. pp.2301-2306, 2010, 〈10.1109/IROS.2010.5650400〉. 〈lirmm-00545491〉

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