- Tytuł:
- An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation
- Autorzy:
-
Yarza, A.
Santibanez, V.
Moreno-Valenzuela, J. - Powiązania:
- https://bibliotekanauki.pl/articles/330314.pdf
- Data publikacji:
- 2013
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
adaptive control
robot control
nonlinear control
output feedback
Lyapunov UGAS stability
sterowanie adaptacyjne
sterowanie robotem
sterowanie nieliniowe
sprzężenie zwrotne
stabilność Lyapunova - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2013, 23, 3; 599-611
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł