An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation
نویسندگان
چکیده
منابع مشابه
An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation
This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Gl...
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Two important practical aspects of robot manipulators control are the difficulty of obtaining accurate velocity measurements and the uncertainty of parameters of the dynamical model. To deal with these problems, several adaptive output feedback tracking controllers have been proposed. In this paper, it is proved that, as long as the regression matrix is persistenly exciting, uniform global asym...
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A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
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This paper presents a solution to the problem of global, output feedback, tracking control of uncertain robot manipulators. Specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking while compensating for parametric uncertainty and requiring only link position measureme...
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ژورنال
عنوان ژورنال: International Journal of Applied Mathematics and Computer Science
سال: 2013
ISSN: 2083-8492,1641-876X
DOI: 10.2478/amcs-2013-0045