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
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