Globally exponential controller/observer for tracking in robots with DC motor dynamics and only link position measurement

Malagari, Srinivasulu; Driessen, Brian J.

doi:10.1504/ijmic.2013.054032

Cited by 3 publications

(2 citation statements)

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“…In , an adjustable‐rate semi‐globally exponential observer/controller was presented that is applicable to the robot with brush motor dynamics, flexible joints, or both brush motor dynamics and flexible joints, all with only link position measurement. In , the first globally exponential and the first globally‐asymptotic result for this plant with brush motor dynamics appeared. The authors of also extended the approach of to the robot with flexible joints; only link position and actuator position were assumed available; both unknown velocities were estimated, in a semi‐globally exponential result.…”

Section: Introductionmentioning

confidence: 89%

Observer/Controller With Global Practical Stability for Tracking in Robots Without Velocity Measurement

Driessen¹

2014

Asian Journal of Control

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In this work, a global practical stability (GPS) observer/controller is given for a revolute-jointed multiple degree of freedom robotic plant without velocity measurement and without knowledge of plant parameter values and with a globally bounded disturbance torque. For this considered plant, a global observer/controller that globally drives the combined estimation and position tracking error to a set on which the tracking error can be made arbitrarily small by adjusting parameters/gains of the observer/controller is proposed. For the above-mentioned plant, the current paper is the first GPS result for which the control torque is not an exponential function of a (filtered) tracking error. This paper is also the first global result for which the convergence to the residual set is exponential in time (Global Exponential Practical Stability). The observer update is discontinuous, however, only at isolated time instants. No sliding modes are used. Also, the torque is continuous.

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Section: Introductionmentioning

confidence: 89%

Observer/Controller With Global Practical Stability for Tracking in Robots Without Velocity Measurement

Driessen¹

2014

Asian Journal of Control

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“…The robust trajectory tracking control problem for robotic manipulators that are not equipped with the velocity sensors was investigated in [17], where a dynamic position‐feedback controller with feedforward was designed such that the closed‐loop system was ultimately bounded. Some other works of tracking control without using velocity measurements were given in [18–20]. These previous works prevent the need for the velocity either by using a filter, an observer, or an estimator.…”

Section: Introductionmentioning

confidence: 99%

Output feedback controller for trajectory tracking of robot manipulators without velocity measurements nor observers

Rascón

Moreno–Valenzuela

2020

IET Control Theory & Appl

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Adaptive tracking control of a mobile manipulator actuated by DC motors

Karray

Feki

2014

IJMIC

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Globally exponential controller/observer for tracking in robots with DC motor dynamics and only link position measurement

Cited by 3 publications

References 20 publications

Observer/Controller With Global Practical Stability for Tracking in Robots Without Velocity Measurement

Observer/Controller With Global Practical Stability for Tracking in Robots Without Velocity Measurement

Output feedback controller for trajectory tracking of robot manipulators without velocity measurements nor observers

Adaptive tracking control of a mobile manipulator actuated by DC motors

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