Homogeneous output feedback tracking control for robot manipulators

被引：0
|
作者：
Aguilar, LT [1 ]
Castillo, O [1 ]
机构：
[1] IPN, CITEDI, San Diego, CA 92154 USA
来源：
PROCEEDINGS OF THE THIRD IASTED INTERNATIONAL CONFERENCE ON CIRCUITS, SIGNALS, AND SYSTEMS | 2005年
关键词：
homogeneous control; observer; robot manipulator;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In industrial applications, trajectory tracking control plays an important role in the motion of robot manipulators. In this paper, we present a homogeneous controller for tracking trajectories of robot manipulators assuming that only position information is available. A stability analysis of the closed-loop dynamic system in question was performed within the framework of Lyapunov functions. Performance issues related to homogeneous closed-loop systems are illustrated in numerical simulations applied to a robot manipulator of two-degrees-of-freedom (2-DOF).
引用
收藏
页码：95 / 99
页数：5
相关论文
共 50 条
  • [31] Global Asymptotic Saturated Output Feedback Control of Robot Manipulators
    Su, Yuxin
    Parra-Vega, Vicente
    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 3445 - +
  • [32] Optimal neural network output feedback control for robot manipulators
    Jungbeck, M
    Madrid, MK
    ROMOCO'01: PROCEEDINGS OF THE SECOND INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, 2001, : 85 - 90
  • [33] Learning from NN output feedback control of robot manipulators
    Zeng, Wei
    Wang, Cong
    NEUROCOMPUTING, 2014, 125 : 172 - 182
  • [34] Fuzzy Saturated Output Feedback Tracking Control for Robot Manipulators: A Singular Perturbation Theory Based Approach
    Liu, Huashan
    Hao, Kuangrong
    Lai, Xiaobo
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2011, 8 (04) : 43 - 53
  • [35] GLOBAL TRAJECTORY TRACKING THROUGH OUTPUT FEEDBACK FOR ROBOT MANIPULATORS WITH BOUNDED INPUTS
    Zavala-Rio, A.
    Aguinaga-Ruiz, E.
    Santibanez, V.
    ASIAN JOURNAL OF CONTROL, 2011, 13 (03) : 430 - 438
  • [36] Lyapunov-Based Output Feedback Learning Control of Robot Manipulators
    Dogan, K. Merve
    Tatlicioglu, Enver
    Zergeroglu, Erkan
    Cetin, Kamil
    2015 AMERICAN CONTROL CONFERENCE (ACC), 2015, : 5337 - 5342
  • [37] PD Output Feedback Control Design for Robot Manipulators: Experimental Results
    Islam, Shafiqui
    Liu, P. X.
    El Saddick, A.
    2011 24TH CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING (CCECE), 2011, : 1470 - 1473
  • [38] Robust Adaptive Fuzzy Output Feedback Control System for Robot Manipulators
    Islam, Shafiqul
    Liu, Peter X.
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2011, 16 (02) : 288 - 296
  • [39] A stable output feedback position control with integral action for robot manipulators
    Alvarez-Ramirez, J
    Kelly, R
    Cervantes, I
    ASIAN JOURNAL OF CONTROL, 2003, 5 (02) : 230 - 241
  • [40] Saturated Output Feedback Control for Flexible-joint Robot Manipulators
    Zeng, Zhen
    Cheng, Xin
    Liu, Huashan
    2018 CHINESE AUTOMATION CONGRESS (CAC), 2018, : 2194 - 2199
12345