Position funnel control for rigid revolute joint robotic manipulators with known inertia matrix

Author

Hackl, C.M. ; Kennel, R.M.

Author_Institution

Inst. for Electr. Drive Syst. & Power Electron., Tech. Univ. Munchen (TUM), Munich, Germany

fYear

2012

fDate

3-6 July 2012

Firstpage

615

Lastpage

620

Abstract

This paper presents funnel control for position control of rigid, revolute joint, n-degree-of-freedom (DOF) robotic manipulators with known inertia matrix. The multi-input multi-output (MIMO) funnel controller assures reference tracking with `prescribed transient accuracy´, i.e., for each joint, the absolute value of position and speed tracking error (difference between reference and actual value) is bounded by a prescribed, positive (possibly non-increasing) function of time (the `funnel boundary´), respectively.

Keywords

MIMO systems; manipulators; matrix algebra; mobile robots; position control; tracking; MIMO funnel controller; inertia matrix; multiinput multioutput funnel controller; n-degree-of-freedom robotic manipulators; position absolute value; position funnel control; prescribed transient accuracy; rigid revolute joint robotic manipulators; speed tracking error; Accuracy; Joints; MIMO; Manipulators; Position control; Transient analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Control & Automation (MED), 2012 20th Mediterranean Conference on

Conference_Location

Barcelona

Print_ISBN

978-1-4673-2530-1

Electronic_ISBN

978-1-4673-2529-5

Type

conf

DOI

10.1109/MED.2012.6265706

Filename

6265706