<abstract xmlns="http://www.w3.org/1999/xhtml"><p> 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.</p></abstract>

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.

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

Division of Graduate Studies and Research Laguna Institute of Technology, Blvd Revolucion y Cuauhtemoc S/N, 27000, Torreon, Mexico

Department of Systems and Control National Polytechnic Institute (CITEDI), Avenida del Parque 1310, 22510, Tijuana, Mexico

International Journal of Applied Mathematics and Computer Science

This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in...

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

Publié en ligne: 30 sept. 2013

Pages: 599 - 611

DOI: https://doi.org/10.2478/amcs-2013-0045

This content is open access.