Global robust output feedback tracking control of robot manipulators

Authors:
W. E. Dixon;E. Zergeroglu;D. M. Dawson
Affiliations:
Eng. Science and Tech. Div. – Robotics, Oak Ridge Nat. Lab., P.O. Box 2008, Oak Ridge, TN 37831-6305 (USA).;Department of Computer Engineering, Gebze Institute of Technology, 41400 Gebze- Kocaeli (TURKEY).;Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail: dixonwe@ornl.gov
Venue:
Robotica
Year:
2004

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Abstract

This paper addresses the problem of global output feedback, link position tracking control of robot manipulators. Specifically, a robust, Lyapunov-based controller is designed to ensure that the link position tracking error is globally uniformly ultimately bounded despite the fact that only link position measurements are available in the presence of incomplete model information (i.e., parametric uncertainty and additive bounded disturbances).