An adaptive partial state-feedback controller for RLED robot manipulators

IEEE Transactions on Automatic Control

Volumn 41, Issue 7, 1996, Pages 1024-1030

  Burg, T ^a   Dawson, D ^a   Hu, J ^a   De Queiroz, M ^a  

^a AMRL   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ADAPTIVE CONTROL SYSTEMS; CONTROL EQUIPMENT; CONTROL SYSTEMS; ELECTRIC CURRENTS; ELECTRIC FILTERS; ELECTRIC MACHINERY; LYAPUNOV METHODS; MACHINE WINDINGS; MANIPULATORS; MULTIVARIABLE CONTROL SYSTEMS; TRACKING (POSITION);

ADAPTATION LAWS; ELECTROMECHANICAL DYNAMICS; MULTIPHASE MOTORS; RIGID LINK ELECTRICALLY DRIVEN ROBOT MANIPULATORS;

FEEDBACK CONTROL;

EID: 0030192330     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.508910     Document Type: Article

References (27)

1. H. Berghuis and H. Nijmeijer, "A passivity approach to controller-observer design for robots," IEEE Trans. Rob. Automat., vol. 9, no. 6, pp. 740-754, Dec. 1993.
2. M. Bridges, D. Dawson, and C. Abdallah, "Control of rigid-link, flexible-joint robots: A survey of backstepping approaches," J. Rob. Syst., vol. 12, no. 3, pp. 199-216, Mar. 1995.
3. M. Bridges and D. Dawson, "Adaptive control of rigid-link electrically-driven robots actuated with brushless DC motors," in Proc. IEEE Conf. Decis. Contr., Lake Buena Vista, FL, Dec. 1994. vol. 2, pp. 1284-1289.
4. M. Bridges, D. Dawson, and X. Gao, "Adaptive control of rigid-link electrically driven robots," in Proc. IEEE Conf. Decis. Contr., San Antonio, TX, Dec. 1993, pp. 159-165.
5. T. Burg, J. Hu, and D. Dawson, "A redesigned DCAL controller without velocity measurements: Theory and experimentation," in Proc. IEEE Conf. Decis. Contr., Lake Buena Vista, FL, Dec. 1994, pp. 824-828.
6. T. Burg, D. Dawson, J. Hu, and M. de Queiroz, "An adaptive partial state feedback controller for RLED robot manipulators," in Proc. IEEE Conf. Contr. Appl., Glasgow, Scotland, Aug. 1994, vol. 1, pp. 709-714.
7. T. Burg, D. Dawson, J. Hu, and S. Lim, "An adaptive partial state feedback controller for RLED robot manipulators actuated by BLDC motors," in Proc. IEEE Int. Conf. Rob. Automat., Nagoya, Aichi, Japan, May 1995, vol. 1, pp. 300-305.
8. J. Carroll, D. Dawson, Z. Qu, and M. Leviner, "Robust tracking control of rigid-link electrically driven robots actuated by switched reluctance motors," in Proc. ASME Winter Meeting, Anaheim, CA, Nov. 1992, vol. DSC-42, pp. 97-103.
9. D. Dawson, Z. Qu, J. Carroll, and M. Bridges, "Control of robot manipulators in the presences of actuator dynamics," Int. J. Rob. Automat., vol. 8, no. 1, pp. 13-21, 1993.
10. D. Dawson, Z. Qu, and J. Carroll, "Tracking control of rigid-link electrically driven robot manipulators," Int. J. Contr., vol. 56, no. 5, pp. 991-1006, 1992.
11. R. Guenther and L. Hsu, "Variable structure adaptive cascade control of rigid-link electrically-driven robot manipulators," in Proc. IEEE Conf. Decis. Contr., San Antonio, TX, Dec. 1993, pp. 2137-2142.
12. I. Kanellakopoulos, "Adaptive control of nonlinear systems," Ph.D. dissertation, Univ. Illinois, Urbana, IL, 1992.
13. K. Kaneko and R. Horowitz, "Repetitive and adaptive control of robot manipulators with velocity estimation," private communication with R. Horowitz, Aug. 1994.
14. R. Kelly, "A simple setpoint controller by using only position measurements," in preprint 1993 IFAC World Congr., Sydney, Australia, July 1993, pp. 289-293.
15. P. Kokotovic, "The joy of feedback: Nonlinear and adaptive," IEEE Control Syst. Mag., vol. 12, pp. 7-17, June 1992.
16. F. Lewis, C. Abdallah, and D. Dawson, Control of Robot Manipulators. New York: Macmillan, 1993.
17. S. Lim, D. Dawson, I. Hu, and M. de Queiroz, "An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements," in Proc. IEEE Conf. Decis. Contr., Lake Buena Vista, FL, Dec. 1994, vol. 1, pp. 351-356.
18. S. Lim, J. Hu, and D. Dawson, "An output feedback controller for trajectory tracking of RLED robots using an observed backstepping approach," in Proc. IEEE Conf. Contr. Appl., Glasgow, Scotland, Aug. 1994, vol. 1, pp. 71-76.
19. G. Liu and A. Goldenberg, "Robust control of robot manipulators incorporating motor dynamics," IEEE RSJ Int. Conf. Intell. Rob. Syst., Yokohama, Japan, July 26, 1993, pp. 68-75.
20. R. Lozano and B. Brogliato, "Adaptive control of robot manipulators with flexible joints," IEEE Trans. Automat. Contr., vol. 37, no. 2, pp. 174-181, Feb. 1992.
21. S. Nicosia and P. Tomei, "Robot control by using only joint position measurements," IEEE Trans. Automat. Contr., vol. 35, no. 9, pp. 1058-1061, Sept. 1990.
22. Z. Qu, D. Dawson, J. Dorsey, and J. Duffie, "Robust estimation and control of robotic manipulators," in Proc. ASME Winter Meeting, Anaheim, CA, Nov. 1992, vol. DSC-42, pp. 235-241.
23. N. Sadegh and R. Horowitz, "Stability and robustness analysis of a class of adaptive controllers for robotic manipulators," Int. J. Rob. Res., vol. 9, no. 3, pp. 74-92, June 1990.
24. S. Sastry and M. Bodson, Adaptive Control: Stability, Convergence, and Robustness. Englewood Cliffs, NJ: Prentice-Hall, 1989.
25. T. Tarn, A. Bejczy, X. Yun, and Z. Li, "Effect of motor dynamics on nonlinear feedback robot arm control," IEEE Trans. Rob. Automat., vol. 7, no. 1, pp. 114-122, Feb. 1991.
26. D. Taylor, "Composite control of direct-drive robots," in Proc. IEEE Conf. Decis. Contr., Tampa, FL, Dec. 1989, pp. 1670-1675.
27. J. Yuan and Y. Stepanenko, "Robust control of robotic manipulators without velocity measurements," Int. J. Robust Nonlinear Contr., vol. 1, pp. 203-213, 1991.