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

Antonio Yarza; Victor Santibanez; Javier Moreno-Valenzuela

International Journal of Applied Mathematics and Computer Science (2013)

  • Volume: 23, Issue: 3, page 599-611
  • ISSN: 1641-876X

Abstract

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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.

How to cite

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Antonio Yarza, Victor Santibanez, and Javier Moreno-Valenzuela. "An adaptive output feedback motion tracking controller for robot manipulators: uniform global asymptotic stability and experimentation." International Journal of Applied Mathematics and Computer Science 23.3 (2013): 599-611. <http://eudml.org/doc/262313>.

@article{AntonioYarza2013,
abstract = {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.},
author = {Antonio Yarza, Victor Santibanez, Javier Moreno-Valenzuela},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {adaptive control; robot control; nonlinear control; output feedback; Lyapunov UGAS stability; Lyapunov stability; uniform global asymptotic stability (UGAS)},
language = {eng},
number = {3},
pages = {599-611},
title = {An adaptive output feedback motion tracking controller for robot manipulators: uniform global asymptotic stability and experimentation},
url = {http://eudml.org/doc/262313},
volume = {23},
year = {2013},
}

TY - JOUR
AU - Antonio Yarza
AU - Victor Santibanez
AU - Javier Moreno-Valenzuela
TI - An adaptive output feedback motion tracking controller for robot manipulators: uniform global asymptotic stability and experimentation
JO - International Journal of Applied Mathematics and Computer Science
PY - 2013
VL - 23
IS - 3
SP - 599
EP - 611
AB - 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.
LA - eng
KW - adaptive control; robot control; nonlinear control; output feedback; Lyapunov UGAS stability; Lyapunov stability; uniform global asymptotic stability (UGAS)
UR - http://eudml.org/doc/262313
ER -

References

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