eprintid: 187
rev_number: 2
eprint_status: archive
userid: 1
dir: disk0/00/00/01/87
datestamp: 2023-11-09 15:15:49
lastmod: 2023-11-09 15:15:49
status_changed: 2023-11-09 15:13:30
type: conference_item
metadata_visibility: show
creators_name: Ahmed, S.
creators_name: Karsiti, M.N.
creators_name: Cruz, J.B.
title: Observer based feedback control strategies for collaborative robots
ispublished: pub
keywords: Feedback control; Linearization; Machine design; Nonlinear control systems; Robotics; Robots, Control inputs; Exponentially stables; Feedback strategies; Leader-follower formation; Linearization techniques; Nonholonomic collaborative robots; Observer feedback controller; Observer-based feedback controls; Simulation results; Simulink, Feedback
note: cited By 3; Conference of 2007 International Conference on Intelligent and Advanced Systems, ICIAS 2007 ; Conference Date: 25 November 2007 Through 28 November 2007; Conference Code:74506
abstract: 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
official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-57949090135&doi=10.1109%2fICIAS.2007.4658560&partnerID=40&md5=fbeaa33350022ab8b413f197174f4721
id_number: 10.1109/ICIAS.2007.4658560
full_text_status: none
publication: 2007 International Conference on Intelligent and Advanced Systems, ICIAS 2007
place_of_pub: Kuala Lumpur
pagerange: 1125-1129
refereed: TRUE
isbn: 1424413559; 9781424413553
citation:   Ahmed, S. and Karsiti, M.N. and Cruz, J.B.  (2007) Observer based feedback control strategies for collaborative robots.  In: UNSPECIFIED.