抄録
Two kinds of hyper-stable servo controller without velocity measurement are proposed for a class of nonlinear mechanical systems. One is deduced from the passivity of mechanical systems between torque input and velocity output and the other is constructed from a hyper-stable connection called “compliant joint-connection”. The global asymptotic stability of setpoint control without velocity measurement as well as the asymptotic convergence of velocity estimation errors is implied conceptually by the framework of hyper-stability theory and proved rigorously from construction of Lyapunov's function. Further, it is shown that these controllers can be extended to cope with setpoint hybrid (position/force) control of robotic systems under geometric endpoint constraints.
