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Use of high-gain observers in the inverse kinematic problem

✍ Scribed by Antonio Tornambe'

Publisher
Elsevier Science
Year
1990
Tongue
English
Weight
301 KB
Volume
3
Category
Article
ISSN
0893-9659

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✦ Synopsis

It is shown that the asymptotic inverse kinematic problem can be reduced to the problem of observing the state variables of a certain nonlinear dynamic system. A high-gain observer is used in the state estimation and the singular perturbation theory is used in the convergence proof of the algorithm. It is also shown that the classical methods of Newton and of the gradient can be obtained as particular high-gain observers.

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