Title :
Globally bounded tracking controllers for rigid robot systems
Author :
Lefeber, A.A.J. ; Nijmeijer, H.
Author_Institution :
Dept. of Appl. Math., Univ. of Twente, Enschede, Netherlands
Abstract :
In this note we consider tracking control of rigid robot systems under input constraints. Using the combination of two controllers we are able to obtain globally asymptotically stable closed-loop error-dynamics while keeping the applied actuator torques within in advance specified bounds. This idea is also exploited successfully in case only position measurements are available, or when parameter uncertainties call for an adaptive control scheme.
Keywords :
actuators; adaptive control; asymptotic stability; closed loop systems; manipulators; actuator torques; adaptive control scheme; globally asymptotically stable closed-loop error-dynamics; globally bounded tracking controller; input constraints; parameter uncertainties; position measurements; rigid robot manipulator systems; rigid robot systems; Closed loop systems; Observers; Position measurement; Robots; Switches; Symmetric matrices; Robotics; bounded feedback stabilization; nonlinear control;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
