Output feedback controller for trajectory tracking of robot manipulators without velocity measurements nor observers
DOI10.1049/IET-CTA.2020.0037zbMATH Open1542.93126MaRDI QIDQ6608913FDOQ6608913
Authors: Raúl Rascón, Javier Moreno-Valenzuela 
Publication date: 20 September 2024
Published in: IET Control Theory \& Applications (Search for Journal in Brave)
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stabilityadaptive controlfeedbackrobust controlstability analysistrajectory trackingLyapunov methodstrackingfrictiontracking controlfirst-order systemvariable structure systemsadaptive estimatorclosed loop systemsoutput feedback controllerPID controllerrobot manipulatorsdynamic linear controllerdynamic gaincontrol system synthesismanipulatorsgain matricesvelocity measurementsclosed-loop designthree-term controlviscous friction coefficientclosed-loop stability analysesDOF SCARA robot manipulatorDOF systemsnDOF Lagrangian systemsnDOF manipulatorstunable gain parameters
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- Trajectory tracking control for robot manipulators using only position measurements
- Adaptive tracking control of Euler-Lagrange systems with bounded controls
- Adaptive fault-tolerant control of mobile robots with actuator faults and unknown parameters
- Non-linear-disturbance-observer-enhanced MPC for motion control systems with multiple disturbances
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