Trajectory tracking in robot manipulators via nonlinear estimated state feedback

Author

De Wit, C. Canudas ; Fixot, N. ; Åström, K.J.

Author_Institution

Lab. d´´Autom. de Grenoble, ENSIEG-INPG, Saint-Martin-d´´Heres, France

Volume

8

Issue

1

fYear

1992

fDate

2/1/1992 12:00:00 AM

Firstpage

138

Lastpage

144

Abstract

High-precision measurements of joint displacements are available on robot manipulators. In contrast, velocity measurements obtained through tachometers are, in many cases, contaminated by noise. It is therefore economically and technically interesting to investigate the possibility of controlling robot dynamics by only using angular position measurements. Two alternative approaches for trajectory tracking control via nonlinear estimated state feedback are presented. The first scheme is based on smooth functions, whereas the second uses switching gains. The stability of the closed-loop system is investigated. Both approaches yield exponentially stable closed-loop systems. The local attraction areas are characterized in terms of controller and observer gains, initial state values, and robot model parameters

Keywords

feedback; nonlinear control systems; position control; robots; state-space methods; angular position measurements; controller gains; exponentially stable closed-loop systems; initial state values; local attraction areas; nonlinear estimated state feedback; observer gains; robot manipulators; robot model parameters; smooth functions; switching gains; trajectory tracking control; Displacement measurement; Manipulator dynamics; Nonlinear dynamical systems; Pollution measurement; Position measurement; Robot control; State estimation; State feedback; Trajectory; Velocity measurement;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.127249

Filename

127249