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

DOI10.1002/ACS.1294MaRDI QIDQ5178391zbMATH OpenOpenAlexFDO

Authors Srinivasulu Malagari, Brian J. Driessen

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

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

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Cites work

• A partial state feedback controller for tajectory tracking of rigid‐link fiexible‐joint robot using an observed backstepping approach
• Adjustable-rate semi-globally exponential observer/controller for tracking in robots with actuator dynamics and only link position measurement
• An adaptive output feedback controller for robot arms: Stability and experiments
• Bounded output feedback tracking control of fully actuated Euler-Lagrange systems
• Global adaptive output feedback tracking control of robot manipulators
• Global tracking control of one degree of freedom Euler-Lagrange systems without velocity measurements
• Globally exponential controller/observer for tracking in robots without velocity measurement
• Robot control by using only joint position measurements

Cited in

(6)

• Observer/controller with global practical stability for tracking in robots without velocity measurement
• Globally exponential controller/observer for tracking in robots without velocity measurement
• Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement
• Adaptive global tracking for robots with unknown link and actuator dynamics
• Adjustable-rate semi-globally exponential observer/controller for tracking in robots with actuator dynamics and only link position measurement
• FAT-based robust adaptive control of electrically driven robots without velocity measurements

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