Globally exponential continuous controller/observer for position tracking in robot manipulators with hysteretic joint friction

Autor:	Brian J. Driessen, Srinivasulu Malagari
Rok vydání:	2009
Předmět:	Engineering Observer (quantum physics) business.industry General Mathematics Work (physics) Computer Science Applications Exponential function Tracking error Hysteresis Control and Systems Engineering Control theory Robot business Actuator Software
Zdroj:	Robotica. 28:759-763
ISSN:	1469-8668 0263-5747
Popis:	SUMMARYIn this work, we present a continuous observer and continuous controller for a multiple degree of freedom robot manipulator with hysteretic joint friction. The fictitious hysteresis state is of course unknown to the controller and must be estimated. The joint velocities are assumed measured here. For this considered plant, we propose and present a continuous observer/controller that estimates or observes the hysteresis state and drives the position tracking error to zero. We prove that the combined tracking error and observer error converges to zero globally exponentially.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::d534a2767fd7809333072f522ca42266 https://doi.org/10.1017/s0263574709990452 Zobrazit plný text záznamu