Title :
Position funnel control for rigid revolute joint robotic manipulators with known inertia matrix
Author :
Hackl, C.M. ; Kennel, R.M.
Author_Institution :
Inst. for Electr. Drive Syst. & Power Electron., Tech. Univ. Munchen (TUM), Munich, Germany
Abstract :
This paper presents funnel control for position control of rigid, revolute joint, n-degree-of-freedom (DOF) robotic manipulators with known inertia matrix. The multi-input multi-output (MIMO) funnel controller assures reference tracking with `prescribed transient accuracy´, i.e., for each joint, the absolute value of position and speed tracking error (difference between reference and actual value) is bounded by a prescribed, positive (possibly non-increasing) function of time (the `funnel boundary´), respectively.
Keywords :
MIMO systems; manipulators; matrix algebra; mobile robots; position control; tracking; MIMO funnel controller; inertia matrix; multiinput multioutput funnel controller; n-degree-of-freedom robotic manipulators; position absolute value; position funnel control; prescribed transient accuracy; rigid revolute joint robotic manipulators; speed tracking error; Accuracy; Joints; MIMO; Manipulators; Position control; Transient analysis;
Conference_Titel :
Control & Automation (MED), 2012 20th Mediterranean Conference on
Conference_Location :
Barcelona
Print_ISBN :
978-1-4673-2530-1
Electronic_ISBN :
978-1-4673-2529-5
DOI :
10.1109/MED.2012.6265706
