On global output feedback tracking control of robot manipulators

We revisit the global output feedback (OFB) tracking control problem for rigid-link robot manipulators subject to parametric uncertainty. Motivated by misunderstandings in the literature concerning our previous result, we propose a new global OFB adaptive controller which, in contrast to our previous work, eliminates the need for a post-stability analysis transformation to derive a velocity-independent control strategy. The structure of the new controller along with a new Lyapunov function are used to illustrate global asymptotic link position tracking. Experimental results are included to demonstrate the controller performance.

[1]  Frank L. Lewis,et al.  Control of Robot Manipulators , 1993 .

[2]  R. Ortega,et al.  A semiglobally stable output feedback PI2D regulator for robot manipulators , 1995, IEEE Trans. Autom. Control..

[3]  Ser Yong Lim,et al.  Re-examining the Nicosia-Tomei robot observer-controller from a backstepping perspective , 1996, IEEE Trans. Control. Syst. Technol..

[4]  R. Kelly.  A Simple Set-point Robot Controller by Using Only Position Measurements* , 1993 .

[5]  H. Nijmeijer,et al.  Robust control of robots via linear estimated state feedback , 1994, IEEE Trans. Autom. Control..

[6]  Ilya V. Burkov,et al.  Mechanical System Stabilization via Differential Observer , 1995 .

[7]  Roberto Horowitz,et al.  Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators , 1990, Int. J. Robotics Res..

[8]  S. Nicosia,et al.  Robot control by using only joint position measurements , 1990 .

[9]  C. C. Wit,et al.  Adaptive control of robot manipulators via velocity estimated feedback , 1992 .

[10]  Darren M. Dawson,et al.  An adaptive partial state-feedback controller for RLED robot manipulators , 1996 .

[11]  Henk Nijmeijer,et al.  A passivity approach to controller-observer design for robots , 1993, IEEE Trans. Robotics Autom..

[12]  D.M. Dawson,et al.  Global adaptive output feedback tracking control of robot manipulators , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[13]  Romeo Ortega,et al.  Passivity-based Control of Euler-Lagrange Systems , 1998 .

[14]  Warren E. Dixon,et al.  A composite adaptive output feedback tracking controller for robotic manipulators , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[15]  Darren M. Dawson,et al.  QMotor 2.0-A PC based real-time multitasking graphical control environment , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[16]  Antonio Loría,et al.  Global Tracking Control of One Degree of Freedom Euler-Lagrange Systems without Velocity Measurements , 1996, Eur. J. Control.

[17]  C. C. Wit,et al.  Robot control via robust estimated state feedback , 1991 .

[18]  Darren M. Dawson,et al.  Robust estimation and control of robotic manipulators , 1995, Robotica.

[19]  M. Loria,et al.  Global Tracking Control of one Degree of FreedomEuler-Lagrange Systems Without Velocity , 1996 .

[20]  Roberto Horowitz,et al.  Repetitive and adaptive control of robot manipulators with velocity estimation , 1997, IEEE Trans. Robotics Autom..

[21]  Darren M. Dawson,et al.  QMotor 2.0-a real-time PC based control environment , 1999 .

[22]  Darren M. Dawson,et al.  A redesigned DCAL controller without velocity measurements: theory and demonstration , 1997, Robotica.

[23]  Carlos Canudas de Wit,et al.  Sliding observers for robot manipulators , 1991, Autom..

[24]  Yury Stepanenko,et al.  Robust control of robotic manipulators without velocity feedback , 1991 .

[25]  Ernest Barany,et al.  Global regulation of uncertain manipulators using bounded controls , 1997, Proceedings of International Conference on Robotics and Automation.