DocumentCode
291289
Title
Robust tracking of uncertain robots using only position measurements
Author
Caiti, Andrea ; Gambardella, Lucia
Author_Institution
DIST, Genoa Univ., Italy
Volume
2
fYear
1994
fDate
5-9 Sep 1994
Firstpage
1078
Abstract
The problem of tracking a desired trajectory with a robot whose parameters are inaccurately known and whose joint velocities are not accessible to the measurement is considered. A smooth nonlinear observer-controller is proposed, and it is shown that, if the uncertainties are within certain bounds, it is possible to guarantee the uniform boundedness and uniform ultimate boundedness of both observation and tracking error
Keywords
manipulators; nonlinear control systems; observers; position measurement; robust control; tracking; observation error; position measurements; robust tracking; smooth nonlinear observer-controller; tracking error; trajectory tracking; uncertain robots; uniform ultimate boundedness; Adaptive control; Asymptotic stability; Control systems; Equations; Mathematics; Position measurement; Robots; Robustness; Torque control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on
Conference_Location
Bologna
Print_ISBN
0-7803-1328-3
Type
conf
DOI
10.1109/IECON.1994.397941
Filename
397941
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