Global adaptive output feedback tracking control of robot manipulators

Author

Zhang, F. ; Dawson, D.M. ; de Queiroz, M.S. ; Dixon, W.E.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

45

Issue

6

fYear

2000

fDate

6/1/2000 12:00:00 AM

Firstpage

1203

Lastpage

1208

Abstract

This paper presents a solution to the problem of global, output feedback, tracking control of uncertain robot manipulators, specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking while compensating for parametric uncertainty and requiring only link position measurements

Keywords

adaptive control; compensation; control system synthesis; feedback; filtering theory; manipulators; nonlinear control systems; nonlinear filters; tracking; uncertain systems; compensation adaptation law; dynamic nonlinear filter; global adaptive output feedback tracking control; global asymptotic link position tracking; link position measurements; nonlinear feedback term; parametric uncertainty compensation; uncertain robot manipulators; Adaptive control; Asymptotic stability; Error correction; Gravity; Manipulator dynamics; Output feedback; Position measurement; Programmable control; Robot control; Velocity measurement;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.863607

Filename

863607