Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement

DOI10.1002/acs.1294zbMath1306.93045OpenAlexW1536204340MaRDI QIDQ5178391

Brian J. Driessen, Srinivasulu Malagari

Publication date: 16 March 2015

Published in: International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/acs.1294

zbMATH Keywords

output feedbackvelocity observeradaptive robot trackingglobally asymptotic adaptive controllerglobally asymptotic tracking (GAS)

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (1)

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

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 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
• 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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