Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots

Author

Dixon, W.E. ; Zergeroglu, E. ; Dawson, D.M. ; Hannan, M.W.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

fYear

1999

fDate

1999

Firstpage

281

Lastpage

286

Abstract

This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking

Keywords

adaptive control; asymptotic stability; control system synthesis; filtering theory; flexible manipulators; position control; state feedback; tracking; adaptive control; backstepping control; flexible-joint robots; nonlinear filter; position control; rigid-link; stability; state feedback; tracking control; Actuators; Adaptive control; Control systems; Mechanical systems; Nonlinear filters; Position measurement; Programmable control; Robots; State feedback; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-7803-5038-3

Type

conf

DOI

10.1109/AIM.1999.803179

Filename

803179