Title :
Global asymptotic stability of bounded output feedback tracking control for robot manipulators
Author :
Santibañez, Victor ; Kelly, Rafael
Author_Institution :
Inst. Tecnologico de la Laguna, Torreon Coahuila, Mexico
Abstract :
This paper shows that global asymptotic stability of the closed-loop system formed by an output feedback tracking bounded controller (previously reported in the literature) for robot manipulators in presence of sufficiently large viscous friction, can be achieved provided that a feedforward compensation term of the viscous friction is added to the controller
Keywords :
asymptotic stability; closed loop systems; feedback; manipulator dynamics; manipulators; Lyapunov method; bounded output feedback tracking control; closed-loop system; feedforward compensation; global asymptotic stability; output feedback tracking bounded controller; robot control; robot manipulators; viscous friction; Asymptotic stability; Control systems; Friction; Manipulator dynamics; Output feedback; Position measurement; Robot control; Symmetric matrices; Torque control;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.981082
