Tracking Control of Robot Manipulators with Bounded Torque Inputs

Authors:
W. E. Dixon;M. S. De Queiroz;F. Zhang;D. M. Dawson
Affiliations:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu;Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu;Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu;Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu
Venue:
Robotica
Year:
1999

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Abstract

This paper examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback controller and an exact model knowledge, output feedback controller are designed to produce semi-global asymptotic link position tracking errors. Simulation results are provided to validate the theoretical concepts, and a comparative analysis demonstrates the benefits of the proposed controllers.