Adaptive task-space tracking control of robots without task-space- and joint-space-velocity measurements

IEEE Transactions on Robotics

Volumn 26, Issue 4, 2010, Pages 733-742

  Liang, Xinwu ^a   Huang, Xinhan ^a   Wang, Min ^a   Zeng, Xiangjin ^a  

^a HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

Author keywords

Adaptive control; asymptotically stable; sliding observer; sliding patch; task space tracking control

Indexed keywords

ADAPTIVE CONTROL; ASYMPTOTICALLY STABLE; CONTROLLER DESIGNS; DESIGN TECHNIQUE; INSTABILITY PROBLEMS; JOINT VELOCITY; KINEMATICS AND DYNAMICS; LYAPUNOV; ROBOT KINEMATICS; SIMULATION RESULT; SLIDING PATCH; SPACE-VELOCITY; STABILITY ANALYSIS; TASK SPACE; TRACKING CONTROLLER; TRACKING CONTROLS;

ADAPTIVE CONTROL SYSTEMS; ASYMPTOTIC ANALYSIS; CONTROL THEORY; KINEMATICS; MACHINE DESIGN; NAVIGATION; ROBOTS; STRUCTURES (BUILT OBJECTS); VELOCIMETERS; VELOCITY; VELOCITY MEASUREMENT;

CONTROLLERS;

EID: 77955584995     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2010.2051594     Document Type: Article

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