Title :
On global output feedback tracking control of robot manipulators
Author :
E. Zergeroglu;D.M. Dawson;M.S. de Queiroz;M. Krstic
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
We revisit the global output feedback (OFB) tracking control problem for rigid-link robot manipulators subject to parametric uncertainty. Motivated by misunderstandings in the literature concerning our previous result, we propose a new global OFB adaptive controller which, in contrast to our previous work, eliminates the need for a post-stability analysis transformation to derive a velocity-independent control strategy. The structure of the new controller along with a new Lyapunov function are used to illustrate global asymptotic link position tracking. Experimental results are included to demonstrate the controller performance.
Keywords :
"Output feedback","Robot control","Manipulators","Error correction","Orbital robotics","Gravity","Velocity control","Size control","Control systems","Mechanical engineering"
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2001.914747