Model-free robot joint position regulation and tracking with prescribed performance guarantees

Robotics and Autonomous Systems

Volumn 60, Issue 2, 2012, Pages 214-226

  Karayiannidis, Y ^a   Doulgeri, Z ^b  

^a ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

^b ARISTOTLE UNIVERSITY OF THESSALONIKI   (Greece)

Author keywords

Approximator free controller; Prescribed performance; Robot motion control

Indexed keywords

ASYMPTOTIC CONVERGENCE; CONSTANT DISTURBANCES; CONTROL GAINS; CONTROL OBJECTIVES; INTEGRAL TERMS; MODEL FREE; PD CONTROLLERS; PERFORMANCE BOUNDS; PERFORMANCE GUARANTEES; POSITION ERRORS; POSITION REGULATION; PRESCRIBED PERFORMANCE; REGULATION PROBLEMS; RESIDUAL ERROR; ROBOT DYNAMICS; ROBOT JOINT; ROBOT MOTION CONTROL; ROBOTIC MANIPULATORS; SPEED OF CONVERGENCE; STEADY STATE ERRORS; SUFFICIENT CONDITIONS; UNIFORMLY ULTIMATE BOUNDEDNESS; VELOCITY ERRORS;

ERRORS; MANIPULATORS; PROPORTIONAL CONTROL SYSTEMS; ROBOTS;

CONTROLLERS;

EID: 84855189414     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2011.10.007     Document Type: Article

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