Disturbance Attenuation via a Reduced-Order Output Feedback Controller for Rigid Robotics Manipulators

摘要

This note presents a solution to the problem of external disturbance attenuation in robotics systems via a reduced-order output feedback controller. The proposed controller based on a point-to-point control law ensures both asymptotic stability of the equilibrium point of the robot system and external disturbance attenuation. The approach is based on the notion of the L_2-gain.