Re-examining the Nicosia-Tomei robot observer-controller from a backstepping perspective

被引：56

作者：

Lim, SY ^{[1
]}

Dawson, DM ^{[1
]}

Anderson, K ^{[1
]}

机构：

[1] CLEMSON UNIV,CTR ADV MFG,DEPT ELECT & COMP ENGN,CLEMSON,SC 29634

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 1996年 / 4卷 / 03期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/87.491205

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Many robot controllers require not only link position measurements but also link velocity measurements; however, most robotic systems are only equipped with link position measurement devices, To address this problem, we present an observer-based controller for the link position tracking, output feedback control of robot manipulators, The approach is based on an observed integrator backstepping procedure which allows us to obtain a semi-global exponential stability result for the link position-velocity tracking error, Implementation of the proposed controller on a two-link direct-drive manipulator produces results which indicate good link position tracking performance and robustness against payload variations.

引用

页码：304 / 310

页数：7

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