DocumentCode
700720
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
fYear
1997
fDate
1-7 July 1997
Firstpage
1714
Lastpage
1719
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1997 European
Conference_Location
Brussels
Print_ISBN
978-3-9524269-0-6
Type
conf
Filename
7082350
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