Global adaptive output feedback tracking control of robot manipulators

Author

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

Author_Institution

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

Volume

4

fYear

1997

fDate

10-12 Dec 1997

Firstpage

3634

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 errors while compensating for parametric uncertainty and requiring only link position measurements. Simulation results are provided to illustrate the controller performance

Keywords

adaptive control; asymptotic stability; compensation; feedback; manipulator dynamics; nonlinear control systems; nonlinear filters; position control; tracking; uncertain systems; adaptive control; asymptotic stability; compensation; dynamic nonlinear filter; dynamics; link position control; nonlinear control systems; output feedback; robot manipulators; tracking; uncertain systems; Acceleration; Adaptive control; Equations; Error correction; Manipulators; Output feedback; Position measurement; Programmable control; Robot control; Symmetric matrices;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on

Conference_Location

San Diego, CA

ISSN

0191-2216

Print_ISBN

0-7803-4187-2

Type

conf

DOI

10.1109/CDC.1997.652419

Filename

652419