Global adaptive output feedback tracking control of robot manipulators

被引：0
|
作者：
Zhang, F [1 ]
Dawson, DM [1 ]
de Queiroz, MS [1 ]
Dixon, W [1 ]
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
来源：
PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 | 1997年
关键词：
D O I：
暂无
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 presents a solution to the problem of global, output feedback, tracking control of uncertain robot manipulators. Specifically a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking errors while compensating for parametric uncertainty and requiring only link position measurements. Simulation results are provided to illustrate the controller performance.
引用
收藏
页码：3634 / 3639
页数：6
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