Globally exponential continuous controller/observer for position tracking in robot manipulators with hysteretic joint friction

Authors:
Srinivasulu Malagari;Brian j. Driessen
Affiliations:
Wichita state university, 1845 fairmount st. wichita, ks 67260, usa;Wichita state university, 1845 fairmount st. wichita, ks 67260, usa
Venue:
Robotica
Year:
2010

Citing 4
Cited 1

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An adaptive friction compensator for global tracking in robot manipulators

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Introduction to Robotics: Mechanics and Control
Globally Asymptotic and Locally Exponential Tracking Observer/Controller for a Relatively Large Class of Systems with Hysteresis

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Semi-globally Exponential Tracking Observer/Controller for Robots with Joint Hysteresis and Without Velocity Measurement

Journal of Intelligent and Robotic Systems

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Abstract

In this work, we present a continuous observer and continuous controller for a multiple degree of freedom robot manipulator with hysteretic joint friction. The fictitious hysteresis state is of course unknown to the controller and must be estimated. The joint velocities are assumed measured here. For this considered plant, we propose and present a continuous observer/controller that estimates or observes the hysteresis state and drives the position tracking error to zero. We prove that the combined tracking error and observer error converges to zero globally exponentially.