Title :
Global robust output feedback tracking control of robot manipulators
Author :
Dixon, W. ; Zhang, F. ; Dawson, D. ; Behal, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
This paper addresses the problem of global output feedback, link position tracking control of robot manipulators in the presence of parametric uncertainty and additive bounded disturbances. Specifically, a Lyapunov-based robust controller is designed to ensure that the link position tracking error is globally, uniformly and ultimately bounded even if only link position measurements are available for measurement. Experimental results are provided to illustrate the controller performance
Keywords :
Lyapunov methods; closed loop systems; feedback; manipulator dynamics; position control; robust control; tracking; Lyapunov method; dynamics; link position control; manipulators; output feedback; parametric uncertainty; robots; robust control; stability; tracking control; Adaptive control; Control systems; Manipulator dynamics; Output feedback; Position measurement; Programmable control; Robot control; Robust control; Stability; Uncertainty;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721588
