Position feedback global tracking control of EL systems: a state transformation approach

Author

Loría, Antonio ; Melhem, Khoder

Author_Institution

LAG-ENSIEG, CNRS, St. Martin d´´Heres, France

Volume

47

Issue

5

fYear

2002

fDate

5/1/2002 12:00:00 AM

Firstpage

841

Lastpage

847

Abstract

The contribution of this paper is a dynamic position feedback global tracking controller for fully actuated Euler-Lagrange (EL) systems. The properties we show for the closed loop system are uniform stability and exponential convergence, global in the initial tracking errors and semiglobal in the initial estimation errors. The novelty of our approach is that our observer and control design are based on a new model for EL systems which is linear in the immeasurable velocities. This model is shown to fit robot manipulators. We also provide some simulation results

Keywords

closed loop systems; feedback; manipulators; observers; stability; actuated Euler-Lagrange systems; closed loop system; control design; exponential convergence; immeasurable velocities; initial estimation errors; initial tracking errors; observer; output feedback; position feedback global tracking control; robot manipulators; simulation results; state transformation approach; uniform stability; Closed loop systems; Control design; Control systems; Convergence; Estimation error; Manipulators; Robots; Stability; State feedback; Tracking loops;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2002.1000284

Filename

1000284