Adjustable-rate semi-globally exponential observer/controller for tracking in robots with actuator dynamics and only link position measurement

DOI10.2316/JOURNAL.201.2010.1.201-2181MaRDI QIDQ2933015zbMATH OpenOpenAlexFDO

Authors Srinivasulu Malagari, Brian J. Driessen

Publication date 9 December 2014

Published in Control and Intelligent Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.2316/journal.201.2010.1.201-2181

zbMATH Keywords

robotvelocity observernonlinear controlssemi-globally exponential trackingSGESactuator dynamicsbrush motorRLEDsemi-global exponential

Mathematics Subject Classification ID

Observability (93B07) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

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