Title :
Global output feedback tracking control for rigid-link flexible-joint robots
Author :
Dixon, W.E. ; Zergeroglu, E. ; de Queiroz, M.S. ; Dawson, D.M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
We present a global, output feedback, tracking controller for rigid-link, flexible-joint robots. Specifically, we design an exact model knowledge, Lyapunov-based controller which provides global asymptotic link position tracking despite the fact that only link position measurements are available
Keywords :
Lyapunov methods; control system analysis; control system synthesis; feedback; manipulator dynamics; position control; exact model knowledge Lyapunov-based controller; global asymptotic link position tracking; global output feedback tracking control; link position measurements; rigid-link flexible-joint robots; Actuators; Backstepping; Error correction; Filters; Output feedback; Position measurement; Robots; Trajectory; Velocity control; Velocity measurement;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677023
