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

DOI10.1002/asjc.1049zbMath1333.93177OpenAlexW1943191951MaRDI QIDQ2794020

Brian J. Driessen

Publication date: 17 March 2016

Published in: Asian Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/asjc.1049

zbMATH Keywords

robustoutput feedbackrobotvelocity observerglobal practical stability (GPS)

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Observability (93B07) Robust stability (93D09) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (1)

Control for a class of stochastic mechanical systems based on the discrete-time approximate observer

Cites Work

• Bounded output feedback tracking control of fully actuated Euler-Lagrange systems
• Global tracking control of one degree of freedom Euler-Lagrange systems without velocity measurements
• ADJUSTABLE-RATE SEMIGLOBALLY EXPONENTIAL OBSERVER/ CONTROLLER FOR TRACKING IN ROBOTS WITH ACTUATOR DYNAMICS AND ONLY LINK POSITION MEASUREMENT
• Global trajectory tracking through output feedback for robot manipulators with bounded inputs
• Global adaptive output feedback tracking control of robot manipulators
• A partial state feedback controller for tajectory tracking of rigid‐link fiexible‐joint robot using an observed backstepping approach
• Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement
• Robot control by using only joint position measurements
• Globally exponential controller/observer for tracking in robots without velocity measurement
• An adaptive output feedback controller for robot arms: Stability and experiments

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