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

• Autorzy: Antonio Yarza , Victor Santibanez , Javier Moreno-Valenzuela
• 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.

Słowa kluczowe

EN

adaptive control; robot control; nonlinear control; output feedback; Lyapunov UGAS stability

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2013
• Tom: 23
• Numer: 3
• Strony: 599-611

Daty

wydano

2013

otrzymano

2012-10-16

poprawiono

2013-06-08

Twórcy

autor

Antonio Yarza

• Division of Graduate Studies and Research, Laguna Institute of Technology, Blvd Revolucion y Cuauhtemoc S/N, 27000, Torreon, Mexico

autor

Victor Santibanez

• Division of Graduate Studies and Research, Laguna Institute of Technology, Blvd Revolucion y Cuauhtemoc S/N, 27000, Torreon, Mexico

autor

Javier Moreno-Valenzuela

• Department of Systems and Control, National Polytechnic Institute (CITEDI), Avenida del Parque 1310, 22510, Tijuana, Mexico

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Identyfikatory

DOI

10.2478/amcs-2013-0045