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

页码：307 / 312

页数：6