Title :
Global adaptive output feedback tracking control of robot manipulators
Author :
Zhang, F. ; Dawson, D.M. ; de Queiroz, M.S. ; Dixon, W.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
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 errors while compensating for parametric uncertainty and requiring only link position measurements. Simulation results are provided to illustrate the controller performance
Keywords :
adaptive control; asymptotic stability; compensation; feedback; manipulator dynamics; nonlinear control systems; nonlinear filters; position control; tracking; uncertain systems; adaptive control; asymptotic stability; compensation; dynamic nonlinear filter; dynamics; link position control; nonlinear control systems; output feedback; robot manipulators; tracking; uncertain systems; Acceleration; Adaptive control; Equations; Error correction; Manipulators; Output feedback; Position measurement; Programmable control; Robot control; Symmetric matrices;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.652419
