Output feedback global tracking control of robot manipulators

Abstract

The contribution of this paper is a dynamic position feedback global tracking controller for fully-actuated robot manipulators. The properties we show for the closed loop system are uniform stability and uniform exponential convergence, global in the initial tracking errors and semiglobal in the initial estimation errors. The novelty of our approach is that our observer and control design are based on a new model. We also provide some simulation results. The original tools for stability and stabilisation that we present are a new dynamic model for manipulators and a lemma for uniform convergence of the output of nonlinear systems.