A high-gain observer-based PD control for robot manipulator

Abstract

In this paper, the popular PD control of robot manipulator is modified. A high-gain observer is proposed for the estimation of the velocity. The main contributions of this paper are: (1) By means of singular perturbation analysis, we prove that the closed-loop system is asymptotic stable; (2) We solve the problem of how much faster the observer should be than the observer-based control.