Title :
Passivity-based controller-observer for robot manipulators
Author :
Bouakrif, F. ; Boukhetala, D. ; Boudjema, F.
Author_Institution :
Dept. d´´Autom., Univ. de Jijel, Jijel
Abstract :
This paper deals with the velocity-observer based controller to solve the trajectory tracking problem for rigid robot manipulators, without using the velocity measurement. A remarkable feature of this observer-controller is that it originates from energy reshaping arguments, by analogy with the passivity-based methodology to robot control. Under assumption that the velocities are bounded, it is shown that the whole control system (robot plus controller plus observer) is semi-global asymptotically stable, and an estimate region of attraction is also given. Finally, simulation results on two-link manipulator are provided to illustrate the effectiveness of the controller-observer.
Keywords :
asymptotic stability; manipulators; observers; tracking; passivity-based controller-observer; robot control; robot manipulator; semi-global asymptotical stable; trajectory tracking problem; Control systems; Manipulator dynamics; Motion control; Pi control; Proportional control; Robot control; Robot kinematics; Robot sensing systems; Torque control; Velocity control; Passivity-based control; robot manipulators; velocity observer;
Conference_Titel :
Information and Communication Technologies: From Theory to Applications, 2008. ICTTA 2008. 3rd International Conference on
Conference_Location :
Damascus
Print_ISBN :
978-1-4244-1751-3
Electronic_ISBN :
978-1-4244-1752-0
DOI :
10.1109/ICTTA.2008.4530121