TRAJECTORY TRACKING IN ROBOT MANIPULATORS VIA NONLINEAR ESTIMATED STATE FEEDBACK

被引：78

作者：

DEWIT, CC ^{[1
]}

FIXOT, N ^{[1
]}

ASTROM, KJ ^{[1
]}

机构：

[1] LUND INST TECHNOL,DEPT AUTOMAT CONTROL,S-22100 LUND,SWEDEN

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1992年 / 8卷 / 01期

关键词：

NONLINEAR CONTROL; NONLINEAR OBSERVER; ROBOT MOTION CONTROL;

D O I：

10.1109/70.127249

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

High-precision measurements of joint displacements are available on robot manipulators. In contrast, velocity measurements obtained through tachometers are, in many cases, contaminated by noise. It is therefore economically and technically interesting to investigate the possibility of controlling robot dynamics by only using angular position measurements. This paper presents two alternative approaches for trajectory tracking control via nonlinear estimated state feedback. The first scheme is based on "smooth" functions whereas the second uses switching gains. The stability of the closed-loop system is investigated. Both approaches yield exponentially stable closed-loop systems. The local attraction areas are characterized in terms of controller and observer gains, initial state values, and robot model parameters.

引用

页码：138 / 144

页数：7

共 30 条

[1]

BAUNAMM WT, 1986, IEEE T AUTOMAT CONTR, V31, P40

[2] CANONICAL FORM OBSERVER DESIGN FOR NON-LINEAR TIME-VARIABLE SYSTEMS [J].

BESTLE, D ;

ZEITZ, M .

INTERNATIONAL JOURNAL OF CONTROL, 1983, 38 (02) :419-431

[3]

CANUDAS C, 1988, ADAPTIVE CONTROL PAR, V7

[4]

DELEPAUT C, 1989, P IEEE C DECISION CO

[5] ROBOT CONTROL VIA ROBUST ESTIMATED STATE FEEDBACK [J].

DEWIT, CC ;

FIXOT, N .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1991, 36 (12) :1497-1501

[6]

DEWIT CC, TRAJECTORY TRACKING

[7]

DEWIT CC, 1989, JUN IFAC S NONL CONT

[8]

DEWIT CC, 1989, PROGR SYSTEMS CONTRO, P539

[9]

DEWIT CC, IN PRESS IEEE T AUTO

[10]

DEWIT CC, 1991, AUTOMATICA, V27, P589

← 1 2 3 →