Abstract
In this chapter, the state-feedback control result achieved in Chap. 7 will be extended to the case that the velocity information is not available. A high gain observer is designed to estimate the velocities of the maser and slave joints online and the controller is constructed on the basis of the estimated velocities. The stability of the closed-loop system is proved. Both simulations and experiments are performed to verify the correctness and effectiveness of the proposed method.
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Hua, C., Yang, Y., Yang, X., Guan, X. (2019). Output Feedback Controller Design for Teleoperation System via High-Gain Observer. In: Analysis and Design for Networked Teleoperation System. Springer, Singapore. https://doi.org/10.1007/978-981-13-7936-9_10
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DOI: https://doi.org/10.1007/978-981-13-7936-9_10
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Print ISBN: 978-981-13-7935-2
Online ISBN: 978-981-13-7936-9
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