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

Authors:
Srinivasulu Malagari;Brian J. Driessen
Affiliations:
Wichita State University, Wichita, USA;Wichita State University, Wichita, USA
Venue:
Journal of Intelligent and Robotic Systems
Year:
2011

Citing 6
Cited 0

Global stabilizability and observability imply semi-global stabilizability by output feedback

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Bounded output feedback tracking control of fully actuated Euler-Lagrange systems

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An adaptive friction compensator for global tracking in robot manipulators

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Globally Asymptotic and Locally Exponential Tracking Observer/Controller for a Relatively Large Class of Systems with Hysteresis

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

Robotica

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Abstract

In this work, we consider a multiple degree of freedom robotic plant with joint hysteresis and without velocity measurement. We show, by construction, how a semi-globally exponential hysteresis observer/controller that assumes velocity measurement, a number of which we point out from the literature, can be combined/modified with a velocity observer to yield a combined semi-globally exponential tracking observer/controller. The resulting observer/controller estimates both the hysteresis state and the joint velocity. We prove that the combined estimation error and tracking error converges to zero semi-globally exponentially. One deemed contribution as compared to previous work for this same type of plant is that the usual requirement of velocity measurement has been removed; another is the proved semi-globally exponential result.