Title :
An output feedback controller for trajectory tracking of RLED robots using an observed backstepping approach
Author :
Lim, S.Y. ; Hu, J. ; Dawson, D.M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
This paper presents an output feedback controller for a rigid-link electrically driven (RLED) robot. The controller is designed in conjunction with a velocity observer and an electrical current observer using an observed integrator backstepping procedure. The overall observer-controller achieves a semiglobal exponential stability result for the link position-velocity tracking error as well as the velocity and current observation errors. Simulation study as well as experimental results of the observer-controller for a RLED robot driven by de motors are also included
Keywords :
feedback; observers; position control; robots; tracking; velocity control; electrical current observer; observation errors; observed integrator backstepping; output feedback controller; rigid-link electrically driven robot; semiglobal exponential stability; tracking error; trajectory tracking; velocity observer; Observers; Output feedback; Position control; Robots; Tracking; Velocity control;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381267
