Global output feedback tracking control for rigid-link flexible-joint robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 1998, Pages 498-503

  Dixon, W E ^a   Zergeroglu, E ^a   De Queiroz, M S ^a   Dawson, D M ^a  

^a Clemson University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

FLEXIBLE MANIPULATORS; ROBOTICS; FEEDBACK CONTROL; LYAPUNOV METHODS; MANIPULATORS; NONLINEAR CONTROL SYSTEMS; POSITION MEASUREMENT; TRACKING (POSITION);

FLEXIBLE JOINT ROBOTS; LYAPUNOV-BASED CONTROLLER; MODEL KNOWLEDGE; OUTPUT FEEDBACK; RIGID LINKS; TRACKING CONTROLLER;

FEEDBACK; ROBOTICS;

FLEXIBLE JOINT ROBOTS;

EID: 0031620553     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.677023     Document Type: Conference Paper

References (30)

1. A. Ailon and R. Ortega, "An Observer-Based Set-Point ontroller for Robot Manipulators with Flexible Joints, " Systems & Control Letters, Vol. 21, pp. 329-335, 1993.
2. S. Arimoto, V. Parra-Vega, and T. Naniwa, "A Class of inear Velocity Observers for Nonlinear Mechanical Systems", Asian Control Conf., pp. 633-636, Tokyo, Japan, 1994.
3. H. Berghuis and H. Nijmeijer, "A Passivity Approach to Controller-Observer Design for Robots", IEEE Trans. Robotics and Automation, Vol. 9, No. 6, pp. 740-754, Dec. 1993.
4. T. Burg, D. Dawson, and P. Vedagarbha, "A Redesigned DCAL Controller without Velocity Measurements: Theory and Demonstration", Proc. IEEE Conf. Decision and Control, pp. 824-828, Lake Buena Vista, FL, Dec. 1994; see also Robotica, Vol. 15, pp. 337-346, 1997.
5. T. Burg, D. Dawson, J. Hu, and M. de Queiroz, "An Adaip-tive Partial State Feedback Controller for RLED Robot Manipulators", IEEE Transactions on Automatic Control, Vol. 41, No. 7, pp. 1024-1031, Jul. 1996.
6. I. Burkov, "Asymptotic Stabilization of Nonlinear La-grangian Systems without Measuring Velocities", Int. Symp. Active Control in Meek. Engg., Lyon, France, 1993. 1
7. R. Colbaugh, E. Barany, and K. Glass, "Global Stabilization of Uncertain Manipulators Using Bounded Controls", Proc. American Control Conf., pp. 86-91, Albuquerque, NM, Jun. 1997.
8. Direct Drive Manipulator Research and Development ackage Operations Manual, Integrated Motion Inc., Berkeley, CA, 1992.
9. K. Kaneko and R. Horowitz, "Repetitive and Adaptive Control of Robot Manipulators with Velocity Estimation", IEEE Trans. Robotics and Automation, Vol. 13, No. 2, pp. 204-217, Apr. 1997.
10. R. Kelly, "A Simple Set-Point Robot Controller by Using my Position Measurements", Proc. IFAC World Congress, Vol. 6, pp. 173-176, Sydney, Australia, Jul. 1993.
11. R. Kelly, R. Ortega, A. Ailon, and A. Loria, "Global Regulation of Flexible Joint Robots Using Approximate Differentiation, " IEEE Transactions on Automatic Control, Vol. 39, No. 6, pp. 1222-1224, Jun. 1994.
12. P. Kokotovic, "The Joy of Feedback: Nonlinear and Adaptive", IEEE Control Systems Magazine, Vol. 12, pp. 7-17, Jun. 1992.
13. F.L. Lewis, C.T. Abdallah, and D.M. Dawson, Control of "obot Manipulators, New York: MacMillan Publishing Co., 1993.
14. S.Y. Lim, D.M. Dawson, and K. Anderson, "Re-examining the Nicosia-Tomei Robot Observer-Controller from a Backstep-ping Perspective" , IEEE Trans, on Control Systems Technology, Vol. 4, No. 3, pp. 304-310, May 1996.
15. S.Y. Lim, J. Hu, D.M. Dawson, and M. Queiroz, "A Partial State Feedback Controller for Trajectory Tracking of Rigid-Link Flexible-Joint Robots Using an Observed Backstepping Approach", Journal of Robotic Systems, Vol. 12, No. 11, pp. 727-746, 1995.
16. S.Y. Lim, D.M. Dawson, J. Hu, and M.S. de Queiroz, An Adaptive Link Position Tracking Controller for Rigid-Link Flexible-Joint Robots Without Velocity Measurements , IEEE Transaction on Systems, Man, and Cybernetics, Vol. 27, No. 3, pp. 412-427, Jun. 1997.
17. A. Loria, "Global Tracking Control of One Degree of Freedom Euler-Lagrange Systems Without Velocity Measurements", European J. of Control, Vol. 2, No. 2, pp.144-151, June 1996;
18. IFAC World Congress, Vol. E, pp. 419-424, San Francisco, CA, Jul. 1996.
19. Glob A. Loria, R. Kelly, R. Ortega, and V. Santibanez, "On lobal Output Feedback Regulation of Euler-Lagrange Systems with Bounded Inputs", IEEE Trans. Automatic Control, Vol. 42, No. 8, pp. 1138-1143, Aug. 1997.
20. S. Nicosia and P. Tomei, "Robot Control by Using Only Position Measurements", IEEE Trans. Automatic Control, Vol. 35, No. 9, pp. 1058-1061, Sept. 1990.
21. S. Nicosia and P. Tomei, "A Tracking Controller for Flexible Joint Robots Using Only Link Position Feedback" IEEE Transactions on Automatic Control, Vol. 40, No. 5, pp. 885-890, May 1995.
22. Z. Qu, D. Dawson, J. Dorsey, and J. Duffie, "Robust Estimation and Control of Robotic Manipulators", Robotica, Vol. 13, pp. 223-231, 1995.
23. Z. Qu, "Input-Output Robust Tracking Control Design for Flexible Joint Robots", IEEE Transactions on Automatic Control, Vol. 40, No. 1, pp. 78-83, Jan. 1995.
24. N. Sadegh, and R. Horowitz, "Stability and Robustness Analysis of a Class of Adaptive Controllers for Robot Manipulators", Int. J. Robotics Research, Vol. 9, No. 3, pp. 74-92, 1990.
25. J.J.E. Slotine and W. Li, Applied Nonlinear Control, En-glewood Cliff, NJ: Prentice Hall, Inc., 1991.
26. M. Spong, "Modeling and Control of Elastic Joint Robots, " Journal of Dynamic Systems, Measurement, and Control, Vol. 109, pp. 310-319, Dec. 1987.
27. M. Spong and M. Vidyasagar, Robot Dynamics and Control, New York: John Wiley and Sons, Inc., 1989.
28. P. Tomei, "A Simple PD Controller for Robots with Elastic Joints, " IEEE Transactions on Automatic Control, Vol. 36, No. 10, pp.1208-1213, Oct. 1991.
29. J. Yuan and Y. Stepanenko, "Robust Control of Robotic anipulators without Velocity Measurements", Int. J. Robust and Nonlinear Control, Vol. 1, pp. 203-213, 1991.
30. F. Zhang, D.M. Dawson, M.S. de Queiroz, and W. Dixon, 'Global Adaptive Output Feedback Control of Robot Manipulators", Proc. IEEE Conf. Decision and Control, San Diego, CA, Dec. 1997, to appear.