Global Asymptotic Adaptive Tracking of Robot Manipulators without Velocity Measurements

被引：2
作者：
Su, Yuxin [1 ]
Zheng, Chunhong [2 ]
机构：
[1] Xidian Univ, Sch Electromech Engn, Xian 710071, Peoples R China
[2] Xidian Univ, Sch Elect Engn, Xian 710071, Peoples R China
来源：
2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年
基金：
中国国家自然科学基金;
关键词：
Robot control; tracking control; output feedback control; global stability; asymptotic stability; OUTPUT-FEEDBACK CONTROLLER; ESTIMATED STATE-FEEDBACK; SYSTEMS; OBSERVER;
D O I：
10.1109/WCICA.2010.5555172
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper revisits the global asymptotic tracking of robot manipulators with position measurements only. A desired compensation adaptive law plus a saturated feedback term coupled to a new dynamic nonlinear filter is designed to produce global asymptotic tracking while compensating for parametric uncertainty and requiring link position measurements only. A new Lyapunov-based stability argument is utilized to prove the global asymptotic tracking. Simulations are included to illustrate the effectiveness of the proposed approach.
引用
收藏
页码：307 / 312
页数：6
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