• DocumentCode
    1592429
  • Title

    Global output feedback tracking control for rigid-link flexible-joint robots

  • Author

    Dixon, W.E. ; Zergeroglu, E. ; de Queiroz, M.S. ; Dawson, D.M.

  • Author_Institution
    Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
  • Volume
    1
  • fYear
    1998
  • Firstpage
    498
  • Abstract
    We present a global, output feedback, tracking controller for rigid-link, flexible-joint robots. Specifically, we design an exact model knowledge, Lyapunov-based controller which provides global asymptotic link position tracking despite the fact that only link position measurements are available
  • Keywords
    Lyapunov methods; control system analysis; control system synthesis; feedback; manipulator dynamics; position control; exact model knowledge Lyapunov-based controller; global asymptotic link position tracking; global output feedback tracking control; link position measurements; rigid-link flexible-joint robots; Actuators; Backstepping; Error correction; Filters; Output feedback; Position measurement; Robots; Trajectory; Velocity control; Velocity measurement;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
  • Conference_Location
    Leuven
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-4300-X
  • Type

    conf

  • DOI
    10.1109/ROBOT.1998.677023
  • Filename
    677023
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1592429