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Global robust output feedback tracking control of robot manipulators

Published online by Cambridge University Press:  26 November 2004

W. E. Dixon ,
E. Zergeroglu  and
D. M. Dawson
W. E. Dixon
Affiliation:
Eng. Science and Tech. Div. – Robotics, Oak Ridge Nat. Lab., P.O. Box 2008, Oak Ridge, TN 37831-6305 (USA). E-mail: dixonwe2ornl.gov
E. Zergeroglu
Affiliation:
Department of Computer Engineering, Gebze Institute of Technology, 41400 Gebze- Kocaeli (TURKEY).
D. M. Dawson
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA).
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Abstract

This paper addresses the problem of global output feedback, link position tracking control of robot manipulators. Specifically, a robust, Lyapunov-based controller is designed to ensure that the link position tracking error is globally uniformly ultimately bounded despite the fact that only link position measurements are available in the presence of incomplete model information (i.e., parametric uncertainty and additive bounded disturbances).

Keywords

Tracking controlRobotsOutput feedback.
Type
Research Article
Information
Robotica , Volume 22 , Issue 4 , August 2004 , pp. 351 - 357
Copyright
2004 Cambridge University Press

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Footnotes

This research was supported in part by the U.S. DOE Office of Biological and Environmental Research (OBER) Environmental Management Sciences Program (EMSP) project ID No. 82797 at ORNL (a contractor of the U.S. Government under contract No. DE-AC05-96OR22464), by a subcontract to ORNL by the Florida Department of Citrus through the University of Florida, by BAP 2003 at the Gebze Institute of Technology, and by two DOC Grants, an ARO Automotive Center Grant, a DOE Contract, a Honda Corporation Grant, and a DARPA Contract.