Title :
An Adaptive Output Feedback Tracking Controller for Manipulators Subject to Constrained Torques
Author :
Moreno, Javier ; González, Salvador
Author_Institution :
Centro de Investigation y Desarrollo de Tecnologia Digital del IPN, Tijuana
Abstract :
In this paper is addressed the problem of trajectory tracking control of robot manipulators by output feedback, i.e., using only joint position measurements. The new approach is able to produce bounded torque input, which is important from the practical point of view because the robot actuators have limited power
Keywords :
adaptive control; feedback; manipulators; position control; torque; tracking; adaptive controller; constrained torques; joint position measurements; output feedback; robot actuators; robot manipulators; trajectory tracking control; Adaptive control; Error correction; Friction; Manipulators; Output feedback; Parameter estimation; Programmable control; Robot control; Symmetric matrices; Torque control;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377313
