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

Lim, Suo Hon; Dawson, D.M.; Anderson, K.

doi:10.1109/87.491205

Cited by 65 publications

(45 citation statements)

References 16 publications

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“…(40) In order to rewrite the actuator subsystem in a convenient state space form, we combine the time derivative of r 1 (t) of (39) with the expression given by (40) to yield * Although the actuator velocity filter design is very similar to that of reference [19], we present the full development here for completeness of the paper, in addition to some notational differences. …”

Section: Actuator Velocity Filter Designmentioning

confidence: 99%

“…After substituting (19), (23), and (28) into (24), we obtain the final expression for the closedloop dynamics for (t) as follows…”

Section: Remark 1 Based On the Properties Of Tanh(·) Defined In (7) mentioning

confidence: 99%

“…From the definition of k f1 , k f 2 , J, B, and K m , it is straightforward to show that A 0 , A 1 , and A 2 are Hurwitz matrices. 18 Based on this fact and the form of (41), we follow the design procedure outlined in references [12] and [19] Based on the structure of (43), we now design the state estimate for r(t) as followŝ…”

Section: Actuator Velocity Filter Designmentioning

confidence: 99%

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Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots

et al. 2000

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SUMMARYThis paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking. An output feedback controller that adapts for parametric uncertainty in the link dynamics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.

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Section: Actuator Velocity Filter Designmentioning

confidence: 99%

“…After substituting (19), (23), and (28) into (24), we obtain the final expression for the closedloop dynamics for (t) as follows…”

Section: Remark 1 Based On the Properties Of Tanh(·) Defined In (7) mentioning

confidence: 99%

Section: Actuator Velocity Filter Designmentioning

confidence: 99%

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Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots

et al. 2000

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“…In (Nisosia and Tomei, 1990), a velocity observer based on the angular position measurements and the system dynamic model was developed for robot manipulator control design. According to this paper, several different controllers have been developed in (Calugi et al, 2002;Eric and Lu, 1996;Lim et al, 1996). In addition, a robust tracking control law (Berghuis and Nijmeijer, 1991) was proposed with a linear observer which is simpler than the other previous observers.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Control Design of Robotic Manipulators With Velocity Observers

Chen

Lin

2005

IFAC Proceedings Volumes

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At present, robotic manipulators are commonly used in manufacturing industry. In many cases, their end-effectors are required to move from one place to the other and follow some desired trajectories. This paper develops a nonlinear backstepping control design scheme with velocity observers for the trajectory tracking control of robotic manipulators. In fact, most of robot manipulator controllers require position as well as velocity measurements to achieve their control objectives, but a lot of robotic systems do not have the velocity measurement devices. Therefore, a velocity observer is designed to estimate the unknown angular velocity of robot manipulators, and then the nonlinear controller based on backstepping design algorithm is developed for the control of robot manipulator systems. The proposed nonlinear backstepping controller is not only to stabilize the robot system, but also to drive the trajectory tracking errors to converge to zero exponentially. Furthermore, some simulation results are given to illustrate the excellent performance of the backstepping control design scheme applied to a two-link robot manipulator.

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“…Some output feedback tracking controllers proposed in the literature are those by Lim et al (1996) or Nicosia and Tomei (1990). An output feedback controller with bounded inputs is proposed by Loria and Nijmeijer (1998), for which global asymptotic stability is obtained by Santibanez and Kelly (2001) in the presence of viscous friction and a proper bound of the desired joint speed.…”

Section: Introductionmentioning

confidence: 99%

An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

Yarza¹,

Santibáñez²,

Moreno–Valenzuela³

2013

International Journal of Applied Mathematics and Computer Science

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This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new scheme has been experimentally implemented with the aim of confirming the theoretical results.

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

Cited by 65 publications

References 16 publications

Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots

Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots

Nonlinear Control Design of Robotic Manipulators With Velocity Observers

An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

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