relation: https://khub.utp.edu.my/scholars/187/
title: Observer based feedback control strategies for collaborative robots
creator: Ahmed, S.
creator: Karsiti, M.N.
creator: Cruz, J.B.
description: This paper presents observer based feedback control strategies for nonholonomic collaborative robots. The collaborative robot system uses the leader-follower formation controller. The observer based feedback strategies are presented for the leader robot. The control inputs for the follower robot are derived based on input-output linearization techniques. The system is modeled using Simulink and simulation results are presented. From the simulation results, it can be seen that the error for observer based feedback controller converges rapidly to zero. Furthermore, the observer based feedback controller results in a K-exponentially stable system. The work presented here is an initial study concerning the design of observer feedback controllers for nonholonomic collaborative robots. ©2007 IEEE.
date: 2007
type: Conference or Workshop Item
type: PeerReviewed
identifier:   Ahmed, S. and Karsiti, M.N. and Cruz, J.B.  (2007) Observer based feedback control strategies for collaborative robots.  In: UNSPECIFIED.     
relation: https://www.scopus.com/inward/record.uri?eid=2-s2.0-57949090135&doi=10.1109%2fICIAS.2007.4658560&partnerID=40&md5=fbeaa33350022ab8b413f197174f4721
relation: 10.1109/ICIAS.2007.4658560
identifier: 10.1109/ICIAS.2007.4658560