Regressor-free prescribed performance robot tracking

Robotica

Volumn 31, Issue 8, 2013, Pages 1229-1238

  Karayiannidis, Y ^a   Doulgeri, Z ^b  

^a ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

^b ARISTOTLE UNIVERSITY OF THESSALONIKI   (Greece)

Author keywords

Prescribed performance; Regressor free controller; Robotic arm; Tracking

Indexed keywords

COMPLEX STRUCTURE; NON-LINEAR CONTROLLERS; PRESCRIBED PERFORMANCE; REGRESSOR-FREE CONTROLLERS; ROBOTIC STRUCTURES; SIMULATION STUDIES; SPEED OF RESPONSE; UNKNOWN DISTURBANCE;

ROBOTIC ARMS; ROBOTICS; SURFACE DISCHARGES;

COMPUTER APPLICATIONS;

EID: 84890355260     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574713000325     Document Type: Article

References (22)

1. M. W. Spong, S. Hutchinson and M. Vidyasagar, Robot Modelling and Control (John Wiley, Somerset, New Jersey, 2006).
2. J. Slotine andW. Li, Applied Nonlinear Control (Prentice Hall, Upper Saddle River, New Jersey, 1993).
3. H. Sage, M. D. Mathelin and E. Ostertag, "Robust control of robot manipulators: A survey," Int. J. Control 72, 1498-1522 (1999). (Pubitemid 30498592)
4. F. Lewis, S. Jagannathan and A. Yeşildirek, Neural Netwrok Control of Robot Manipulators and Nonlinear Systems (Taylor & Francis, Boca Raton, Florida, 1999).
5. S. Kawamura, F. Miyazaki and S. Arimoto, "Is a Local Linear PD Feedback Control Law Effective for Trajectory Tracking of Robot Motion?," In: Proceedings of the IEEE International Conference in Robotics and Automation, Philadelphia (1988) pp. 1335-1340. (Pubitemid 18667288)
6. J. Wen and S. Murphy, "PID Control for Robot Manipulators," CIRSSE Document #54 (Rensselaer Polytechinc Institute, Troy, New York, May 1990).
7. Z. Qu and J. Dorsey, "Robust PID control of robots," Int. J. Robot. Autom. 6(4), 228-235 (1991).
8. L. Lugo-Villeda, A. Frisoli, V. Parra-Vega and M. Bergamasco, "Regressor-Free Force/Position Control of Fixed-Base Exoskeletons for Rehabilitation Tasks," In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009 (IROS 2009), St. Louis (Oct. 2009) pp. 1639 -1645.
9. B. Yao and M. Tomizuka, "Adaptive robust motion and force tracking control of robot manipulators in contact with stiff surfaces," ASME J. Dyn. Syst. Meas. Control, 120, 232-240 (1998). (Pubitemid 128651941)
10. C. M. Hackl, C. Endisch and D. Schröder, "Contributions to non-identifier based adaptive control in mechatronics," Robot. Auton. Syst. 57(10), 996-1005 (2009).
11. C. Bechlioulis and G. Rovithakis, "Prescribed performance adaptive control for multi-input multi-output affine in the control nonlinear systems," IEEE Trans. Autom. Control 55(5), 1220-1226 (2010).
12. C. Bechlioulis, Z. Doulgeri and G. Rovithakis, "Robot Force/Position Tracking with Guaranteed Prescribed Performance," In: Proceedings of the IEEE International Conference in Robotics and Automation, Kobe (2009), pp. 3688-3693.
13. Z. Doulgeri, Y. Karayiannidis and O. Zoidi, "Prescribed Performance Control for Robot Joint Trajectory Tracking Under Parametric and Model Uncertainties," In: Proceedings of the IEEE 17th Mediterranean Conference on Control and Automation, Thessaloniki (2009) pp. 1313-1318.
14. Z. Doulgeri and O. Zoidi, "Prescribed Performance Regulation for Robot Manipulators," In: Proceedings of the 9th International IFAC Symposium on Robot Control (SYROCO '09), Gifu (2009) pp. 721-726.
15. Z. Doulgeri and Y. Karayiannidis, "PID Type Robot Joint Position Regulation with Prescribed Performance Guaranties," In: Proceedings of the IEEE International Conference in Robotics and Automation, Anchorage (2010) pp. 4137-4142.
16. Z. Doulgeri and L. Droukas, "Robot Task Space PID Type Regulation with Prescribed Performance Guaranties," In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei (2010) pp. 1644-1649.
17. Y. Karayiannidis and Z. Doulgeri, "Model-free robot joint position regulation and tracking with prescribed performance guarantees," Robot. Auton. Syst. 60(2), 214-226 (2012).
18. R. Kelly, V. Santibáñez and A. Loría, Control of Robot Manipulators in Joint Space (Springer, New York, 2005).
19. C. Bechlioulis and G. Rovithakis, "Robust adaptive control of feedback linearizable mimo nonlinear systems with prescribed performance," IEEE Trans. Autom. Control 53(9), 2090-2099 (2008).
20. S. Arimoto, Control Theory ofNon-linearMechanical Systems, A Passivity-Based and Circuit-Theoretic Approach (Oxford University Press, Oxford, UK, 1996).
21. H. Khalil, Nonlinear Systems, 3rd ed. (Prentice Hall, Upper Saddle River, New Jersey, 2002).
22. B. Siciliano, L. Sciavicco, L. Villani and G. Oriolo, Robotics: Modelling, Planning and Control (Springer-Verlag, Berlin, Germany, 2009).