Sliding observers for robot manipulators
Automatica (Journal of IFAC)
Robust adaptive control
Control Theory of Nonlinear Mechanical Systems
Control Theory of Nonlinear Mechanical Systems
Control of Robot Manipulators
Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties
International Journal of Robotics Research
A unifying framework for robot control with redundant DOFs
Autonomous Robots
Task-space PD Control of Robot Manipulators: Unified Analysis and Duality Property
International Journal of Robotics Research
Tracking control for robot manipulators with kinematic and dynamic uncertainty
International Journal of Robotics and Automation
Task Sequencing for High-Level Sensor-Based Control
IEEE Transactions on Robotics
Multilayer neural-net robot controller with guaranteed tracking performance
IEEE Transactions on Neural Networks
Neural net robot controller with guaranteed tracking performance
IEEE Transactions on Neural Networks
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The task-space tracking control of robots without the exact knowledge of kinematics and dynamics has been studied before with the assumption that the joint velocities are available for controller designs. However, the velocity measurements can be contaminated by noises, thereby resulting in poor system performance, or even leading to instability problems. Therefore, in this paper, we propose a new tracking controller for robots in the task space without the use of both task-space and joint-space-velocity measurements, under the condition that both the robot kinematics and dynamics are unknown. To overcome these incapacities without the velocity measurements, we introduce the well-known sliding-observer-design techniques to estimate the joint velocities for the purpose of our controller design. Our main concern, i.e., the stability analysis of our controller design incorporated with the siding observer, is presented with the help of Lyapunov-analysis methodology and the sliding-patch concept. Simulation results are presented to show the performance of our controller-observer designs.