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2013 | 23 | 3 | 599-611
Tytuł artykułu

An adaptive output feedback motion tracking controller for robot manipulators: uniform global asymptotic stability and experimentation

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new scheme has been experimentally implemented with the aim of confirming the theoretical results.
Rocznik
Tom
23
Numer
3
Strony
599-611
Opis fizyczny
Daty
wydano
2013
otrzymano
2012-10-16
poprawiono
2013-06-08
Twórcy
  • Division of Graduate Studies and Research, Laguna Institute of Technology, Blvd Revolucion y Cuauhtemoc S/N, 27000, Torreon, Mexico
  • Division of Graduate Studies and Research, Laguna Institute of Technology, Blvd Revolucion y Cuauhtemoc S/N, 27000, Torreon, Mexico
  • Department of Systems and Control, National Polytechnic Institute (CITEDI), Avenida del Parque 1310, 22510, Tijuana, Mexico
Bibliografia
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  • Kelly, R., Carelli, R. and Ortega, R. (1989). Adaptive motion control design to robot manipulators: An input-output approach, International Journal of Control 50(6): 2563-2581.
  • Kelly, R., Santibanez, V. and Loria, A. (2005). Control of Robot Manipulators in Joint Space, Springer-Verlag, Berlin.
  • Khalil, H. (2002). Nonlinear Systems, Prentice-Hall, Englewood Cliffs, NJ.
  • Koditschek, D. (1984). Natural motion for robot arms, Conference on Decision and Control, Las Vegas, NV, USA, pp. 733-735.
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  • Loría, A., Kelly, R. and Teel, A. (2005). Uniform parametric convergence in the adaptive control of mechanical systems, European Journal of Control 11(2): 87-100.
  • Loria, A.E., Panteley, Popovic D. and Teel A. (2002). δ-Persistency of excitation: A necessary and sufficient condition for uniform attractivity. IEEE Conference on Decision and Control, Las Vegas, NV, USA, pp. 3506-3511.
  • Loria, A. and Nijmeijer, H. (1998). Bounded output feedback tracking control of fully-actuated Euler-Lagrange systems, Systems & Control Letters 33(3): 151-161.
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  • Moreno-Valenzuela, J., Santibanez, V., Orozco-Manriquez, E. and Gonzalez-Hernandez, L. (2010). Theory and experiments of global adaptive output feedback tracking control of manipulators, IET Control Theory and Applications 4(9): 1639-1654.
  • Moreno-Valenzuela, J., Santibanez, V., Campa, R. (2008a). A class of OFT controllers for torque-saturated robot manipulators: Lyapunov stability and experimental evaluation, Journal of Intelligent & Robotic Systems 51(1): 65-88.
  • Moreno-Valenzuela, J., Santibanez, V., Campa, R. (2008b). On output feedback tracking control of robots manipulators with bounded torque input, International Journal of Control, Automation, and Systems 6(1): 76-85.
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  • Ortega, R., Loria, A. and Kelly, R. (1995). A semiglobally stable output feedback PI²D regulator for robot manipulators, IEEE Transactions on Automatic Control 40(8): 1432-1436.
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  • Reyes, F. and Kelly, R. (2001). Experimental evaluation of model-based controllers on a direct-drive robot arm, Mechatronics 11(3): 267-282.
  • Sadegh, N. and Horowitz, R. (1987). Stability analysis of an adaptive controller for robotic manipulators, International Conference on Robotics and Automation, Raleigh, NC, USA, pp. 1223-1229.
  • Santibanez, V. and Kelly, R. (2001). Global asymptotical stability of bounded output feedback tracking control for robot manipulators, IEEE Conference on Decision and Control, Orlando, FL, USA, pp. 1378-1379.
  • Santibanez, V. and Kelly, R. (1999). Global convergence of the adaptive PD controller with computed feedforward for robot manipulators, IEEE International Conference on Robotics and Automation, Detroit, MI, USA, pp. 1831-1836.
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  • Yarza, A., Santibanez, V. and Moreno-Valenzuela, J. (2011). Uniform global asymptotic stability of an adaptive output feedback tracking controller for robot manipulators, International Federation of Automatic Control World Congress, Milan, Italy, pp. 14590-14595.
  • Zavala-Rio, A., Aguinaga-Ruiz, E. and Santibanez, V. (2011). Global trajectory tracking through output feedback for robot manipulators with bounded inputs, Asian Journal of Control 13(3): 430-438.
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Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv23z3p599bwm
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