DocumentCode
2509664
Title
An output feedback controller for trajectory tracking of RLED robots using an observed backstepping approach
Author
Lim, S.Y. ; Hu, J. ; Dawson, D.M.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
fYear
1994
fDate
24-26 Aug 1994
Firstpage
71
Abstract
This paper presents an output feedback controller for a rigid-link electrically driven (RLED) robot. The controller is designed in conjunction with a velocity observer and an electrical current observer using an observed integrator backstepping procedure. The overall observer-controller achieves a semiglobal exponential stability result for the link position-velocity tracking error as well as the velocity and current observation errors. Simulation study as well as experimental results of the observer-controller for a RLED robot driven by de motors are also included
Keywords
feedback; observers; position control; robots; tracking; velocity control; electrical current observer; observation errors; observed integrator backstepping; output feedback controller; rigid-link electrically driven robot; semiglobal exponential stability; tracking error; trajectory tracking; velocity observer; Observers; Output feedback; Position control; Robots; Tracking; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location
Glasgow
Print_ISBN
0-7803-1872-2
Type
conf
DOI
10.1109/CCA.1994.381267
Filename
381267
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