A redesigned DCAL controller without velocity measurements: Theory and demonstration

Robotica

Volumn 15, Issue 3, 1997, Pages 337-346

  Burg, T ^a   Dawson, D ^a   Vedagarbha, P ^a  

^a CLEMSON UNIVERSITY   (United States)

Author keywords

DCAL controller; Robots; Tracking control; Velocity estimation

Indexed keywords

CONTROL SYSTEM SYNTHESIS; PARAMETER ESTIMATION; POSITION CONTROL; POSITION MEASUREMENT; ROBOTS; SIGNAL FILTERING AND PREDICTION; VELOCITY CONTROL;

DESIRED COMPENSATION ADAPTATION LAW; TRACKING CONTROL;

ADAPTIVE CONTROL SYSTEMS;

EID: 0031146265     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574797000386     Document Type: Article

References (40)

1. T. Burg, D. Dawson and P. Vedagarbha, "A Redesigned DCAL Controller without Velocity Measurements: Theory and Experimentation" Proc. 33rd Conf. Decision Control, Lake Buena Vista, FL (Dec., 1994), pp. 824-828.
2. T. Burg, D. Dawson, J. Hu and M. de Queiroz, "An Adaptive Partial State Feedback Controller for RLED Robot Manipulators" Proc. 3rd Conf. Control Applications, Glasgow, Scotland (Aug., 1994) Vol. 1, pp. 709-714.
3. R. Ortega and M. Spong, "Adaptive Motion Control of Rigid Robots: A Tutorial" Automatica, 25, No. 6, 877-888 (1989).
4. J. Slotine and W. Li, "On the Adaptive Control of Robot Manipulators" Int. J. Robotics Res. 6(3), 49-59 (1987).
5. J. Craig, P. Hsu and S. Sastry, "Adaptive Control of Mechanical Manipulators" IEEE Int. Conf. Robotics and Automation, San Francisco, CA (March, 1986) pp. 190-195.
6. N. Sadegh and R. Horowitz, "Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators" Int. J. Robot. Res. 9, No. 9, 74-92 (June, 1990).
7. R. Middleton and G. Goodwin, "Adaptive Computed Torque Control for Rigid Link Manipulators" Syst. Control Lett. 10, 9-16 (1988).
8. P. Hsu, M. Bodson, S. Sastry and B, Paden, "Adaptive Identification and Control for Manipulators Without Using Joint Accelerations" Proc. IEEE Conf. Robotics and Automation, Raleigh, NC (1987) pp. 1210-1215.
9. M. Spong and R. Ortega, "On Adaptive Inverse Dynamics Control of Rigid Robots" IEEE Trans. on Automatic Control 35, 92-95 (Jan., 1990).
10. Z. Qu, J. Dorsey and D. Dawson, "Exponentially Stable Trajectroy Following of Robotic Manipulators Under a Class of Adaptive Controls" Automatica 28, No. 3, 579-586 (1992).
11. B. Yao and M. Tomizuka, "Smooth Robust Adaptive Sliding Mode Control of Manipulators with Guaranteed Transient Performance" Proc. American Control Conference, Baltimore, MD (June 1994) pp. 1176-1180.
12. B. Paden and B. Riedle, "A Positive-Real Modification of a Class of Nonlinear Controllers for Robot Manipulators" Proc. American Control Conf., Atlanta, GA (1988) pp. 1782-1785.
13. J. Reed and P. Ioannou, "Instability Analysis and Robust Adaptive Control of Robotic Manipulators" Proc. IEEE Conf. Decision Control, Austin, TX (1988).
14. B. Brogliato, I. Landau and R. Lozano-Leal, "Adaptive Motion Control of Robot Manipulators: A Unified Approach Based on Passivity", Proc. American Control Conf., San Diego, CA (May, 1990), pp. 2259-2264.
15. S. Nicosia and P. Tomei, "Robot Control by Using Only Joint Position Measurements" IEEE Transactions on Autoamtic Control 35, No. 9, 1058-1061 (Sept., 1990).
16. S. Nicosia, A. Tornambe and P. Valigi, "Experimental Results in State Estimation of Industrial Robots" Proc. IEEE Conf. Decision Control, Honolulu, HI, (Dec., 1990), pp. 360-366.
17. C. Canudas de Wit, N. Fixot and K. Astrom, "Trajectory Tracking in Robot Manipulators via Nonlinear Estimated State Feedback" IEEE Trans. Robotics and Automation 8, No. 1, 138-144 (Feb., 1992).
18. C. Canudas de Wit, K. Astrom and N. Fixot, "Computed Torque Control via a Nonlinear Observer" Int. J. Adaptive Control and Signal Processing 4, No. 6, 443-452 (1990).
19. C. Canudas de Wit and J. Slotine, "Sliding Observers for Robot Manipulators" Automatica 27, No. 5, 859-864 (1991).
20. C. Canudas de Wit and N. Fixot, "Adaptive Control of Robot Manipulators via Velocity Estimated Feedback" IEEE Trans. Automatic Control 37, No. 8, 1234-1237 (Aug. 1992).
21. C. Canudas de Wit and N. Fixot, "Robot Control Via Robust Estimated State Feedback" IEEE Trans. Automatic Control 36, No. 12, 1497-1501 (Dec., 1991).
22. M. Erlic and W. Lu, "Manipulator Control with an Exponentially Stable Velocity Observer" Proc. American Control Conf., Chicago, IL (June, 1992) pp. 1241-1242.
23. M. Erlic and W. Lu, "A Reduced-Order Adaptive Velocity Observer for Manipulator Control" Proc. IEEE Conf. Robotics and Automation, Atlanta, GA (May, 1993) pp. 328-333.
24. M. Erlic and W. Lu, "Impedance Control Without Velocity Measurements" Proc. of the IEEE Conference on Control Applications, Vancouver, BC (Sept., 1993) pp. 47-52.
25. Z. Qu, D. Dawson, J. Dorsey and J. Duffle, "Robust Estimation and Control of Robotic Manipulators" Proc. ASME Annual Winter Meeting, Advances in Robotics, Anaheim, CA, pp. 235-241 (Nov. 1992) DSC-Vol. 42, pp. 235-241.
26. W. Zhu, H. Chen and Z. Chang, "A Variable Structure Robot Control Algorithm with an Observer" IEEE Transactions on Robotics and Automation 8, No. 4, 486-492 (Aug. 1992).
27. J. Yuan and Y. Stepanenko, "Robust Control of Robotic Manipulators without Velocity Measurements" Int. J. of Robust and Nonlinear Control 1, 203-213 (1991).
28. H. Berghuis and H. Nijmeijer, "A Passivity Approach to Controller-Observer Design for Robots" IEEE Trans. Automatic Control 9, No. 6, 740-754 (Dec., 1993).
29. H. Berghuis and H. Nimjeijer, "Robust Control of Robots Using Only Position Measurements" Proc. IFAC World Congress, Sydney, Australia (July, 1993) Vol. 1, pp. 501-506.
30. R. Kelly, "A Simple Setpoint Controller by Using Only Position Measurements" Preprint 1993 IFAC World Congress, Sydney, Australia (July, 1993) pp. 289-293.
31. L. Hsu and F. Lizarralde, "Variable Structure Adaptive Tracking Control of Robot Manipulators without Joint Velocity Measurement" Preprint 1993 IFAC World Congress, Sydney, Australia (July, 1993) pp. 145-148.
32. R. Colbaugh, K. Glass and E. Barany, "Adaptive Output Stabilization of Manipulators" Proc. 33rd Conf. Decision Control, Lake Buena Vista, FL (Dec., 1994) pp. 1296-1302.
33. K. Kaneko and R. Horowitz, "Repetitive and Adaptive Control of Robot Manipulators with Velocity Estimation" IEEE Transactions on Robotics and Automation (to appear).
34. P. Kokotovic, "The Joy of Feedback: Nonlinear and Adaptive" IEEE Control Systems Magazine 12, 7-17 (June, 1992).
35. F. Lewis, C. Abdallah and D. Dawson, Control of Robot Manipulators (New York Macmillan Publishing Co., 1993).
36. I. Kanellakopoulos, "Adaptive Control of Nonlinear Systems" Ph.D. Dissertation (University of Illinois, Urbana, IL, 1992).
37. Direct Drive Manipulator Research and Development Package Operations Manual (Integrated Motion Inc., Berkeley, CA, 1992).
38. B. Yao and M. Tomizuka, "Comparative Experiments of Robust and Adaptive Control with New Robust Adaptive Controllers for Robot Manipulators" Proc. 33rd Conf. Decision and Control, Lake Buena Vista, FL (Dec., 1994) pp. 1290-1295.
39. P. Vedagarbha, D. Dawson, T. Burg and J. Hu, "Development and Demonstration of a New Class of Adaptive Partial State Feedback Controllers for Electric Motors" Proceedings of the 1995 American Control Conference, Seattle, WA (June, 1995) Vol. 1, pp. 59-63.
40. S. Sastry and M. Bodson, Adaptive Control; Stability, Convergence and Robustness (Prentice Hall Co., Englewood Cliffs, NJ, 1989).