Title :
Robust tracking of uncertain robots using only position measurements
Author :
Caiti, Andrea ; Gambardella, Lucia
Author_Institution :
DIST, Genoa Univ., Italy
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;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on
Conference_Location :
Bologna
Print_ISBN :
0-7803-1328-3
DOI :
10.1109/IECON.1994.397941
