OTHER
Global output feedback tracking control for rigid-link flexible-joint robots
Warren E. Dixon, Erkan Zergeroğlu, Marcio de Queiroz, D.M. Dawson
- Year
- 2002
- Citations
- 11
Abstract
We present a global, output feedback, tracking controller for rigid-link, flexible-joint robots. Specifically, we design an exact model knowledge, Lyapunov-based controller which provides global asymptotic link position tracking despite the fact that only link position measurements are available.
Keywords
Link (geometry)Control theory (sociology)Tracking (education)RobotController (irrigation)Position (finance)Lyapunov functionComputer scienceJoint (building)Exponential stability
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