Observer based output feedback tracking control of robot manipulators

Abstract

Abstract-In this paper, we developed a new observer based output feedback (OFB) tracking controller for rigid-link robot manipulators. Specifically, a model independent variable structure like observer structure in conjuction with the use of desired system dynamics in the controller design have been utilized to remove the link velocity dependency of the controller and the asymptotic stability of the observer-controller couple is then guaranteed via Lyapunov based arguments. Simulation results are included to demonstrate the observer/controller performance.

A Dynamic Model Free Observer Based Output Feedback Tracking Control of Robot Manipulators in Task-Space

“…The proof presented here is constructed to ease the presentation of the work by removing the tedious parts. Following a similar approach to [30] and [31], obtaining the same stability result is trivial.…”

“…In [28], a full-state feedback controller for MIMO systems was designed where only signum function usage in this paper was inspired from. In [30] and [31], the designed controllers were for joint space control of robot manipulators where task space control was aimed in this paper.…”

Linux-Xenomai Target: A Real-Time Hardware-in-the-Loop Simulation Framework Based on Simulink

“…Controller algorithm which was applied to the robot is an observer based desired compensation adaptation law controller (DCAL) that is an extension of the controller proposed in [15]. The algorithm had been implemented as a C MEX S-function in Simulink environment.…”

Sliding Mode Control System for Improvement in Transient and Steady-state Response

“…Variable structure control (VSC) can be easily applied to nonlinear systems and is robust to plant parameter variation or load disturbance because of the existence of a sliding mode. Hence, it has been applied to various systems (e.g., an inverted pendulum system, a magnetic levitation system and robot manipulators (Ashrefiuon & Whitman, 2010;Bandal & Vernekar, 2010;Zergeroglu & Tatlicioglu, 2010)). VSC methods employing integral compensation have been proposed to achieve servo tracking in the presence of load disturbance or plant parameter variation (Chern & Wu, 1991;1992a;.…”