A cascaded feedback control scheme for trajectory tracking of robot manipulator systems with actuator dynamics

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 1504-1509

  Kawamura, Sadao ^a   Jinwoo, Jun ^a   Kanaoka, Katsuya ^a   Ichii, Hiroaki ^b  

^a RITSUMEIKAN UNIVERSITY   (Japan)

^b NARA NATIONAL COLLEGE OF TECHNOLOGY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CASCADE CONTROL SYSTEMS; FEEDBACK CONTROL; MICROACTUATORS; MICROMANIPULATORS; MOTION CONTROL; NONLINEAR CONTROL SYSTEMS; ROBOTS;

ACTUATOR DYNAMICS; CASCADED FEEDBACK CONTROL; HIGH-ORDER SYSTEMS; ROBOT MANIPULATOR SYSTEMS;

TRACKING (POSITION);

EID: 34250680901     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.281979     Document Type: Conference Paper

References (7)

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3. Thor I. Fossen.: Guidance and Control of Ocean Vehicles, JOHN WILEY & SONS, 2005.
4. Romeo Ortega, Antonio Loria, Per Johan Nicklasson and Hebertt Sira-Ramirez.: Passivity-based Control of Euler-Lagrange Systems, Springer, 1998.
5. Suguru Arimoto.: Control Theory of Non-linear Mechanical Systems, OXFORD Univ. Press, 1996.
6. Sadao Kawamura, Fumio Miyazaki and Suguru Arimoto.: Is a local PD feedback control law effective for trajectory tracking of robot motion, Proc. of IEEE Conf. on Robotics and Automation,pp. 1335-1340, 1988.
7. D. M. Dawson, Z. Qu, F.L. Lewis and J.F. Dorsey.: Robust control for the tracking of robot motion, INT. J. CONTROL, Vol. 52, No. 3,pp. 581-895, 1990.