TRAJECTORY CONTROL OF TWO-LINK ROBOT ARM CONSIDERING ESTIMATION ERROR FOR DISTURBANCE OBSERVER AND SPEED OBSERVER

摘要

Using the disturbance and speed ob­servers for controlling two-link robot arm is very use­ful. However, these observers have estimation error, the estimation error is a one of important issue for con­trol performance or stability of the system. This paper presents the trajectory control method considering the estimation errors. This proposed control scheme pro­vides a class of controllers which can compensate the estimation error of observers. In order to verify the validity of proposed control scheme, simulation results are also presented.