Global regulation of flexible joint robots using approximate differentiation

R. Kelly, R. Ortega, A. Ailon, A. Loria

Research output: Contribution to journalConference articlepeer-review

3 Scopus citations


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.

Original languageEnglish
Pages (from-to)617-618
Number of pages2
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 1 Dec 1993
Externally publishedYes
EventProceedings of the 32nd Conference on Decision and Control - San Antonio, TX, USA
Duration: 15 Dec 199315 Dec 1993

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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