Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement

DOI10.1007/s10846-010-9437-4zbMath1245.93090MaRDI QIDQ441425

Brian J. Driessen, Srinivasulu Malagari

Publication date: 23 August 2012

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-010-9437-4

zbMATH Keywords

hysteresis; robot; velocity observer; actuators; bouc-wen; drives; hysteresis observer; hysteretic friction; lugre; nonlinear controls; semi-global exponential tracking; semi-globally exponential tracking; SGES

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

Cites Work

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