In a recent paper Tomei presented a globally asymptotically stable PD regulator for robots with flexible joints. A drawback of this scheme is that noise in velocity measurements degrades performance. In this paper we show that velocity measurement in Tomei's scheme can be replaced by approximate differentiation preserving global asymptotic stability. Simulations that illustrate our result are also presented.
|Number of pages||2|
|Journal||Proceedings of the IEEE Conference on Decision and Control|
|State||Published - 1 Dec 1993|
|Event||Proceedings of the 32nd Conference on Decision and Control - San Antonio, TX, USA|
Duration: 15 Dec 1993 → 15 Dec 1993