An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

Abstract

This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new scheme has been experimentally implemented with the aim of confirming the theoretical results.

A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator Fault

“…Dynamic model. An articular robot system is a typical redundant, multivariable nonlinear complex dynamic coupling system [39]. When dealing with manipulator, we usually adopt its simplified model as follows due to the extreme complexity of its general dynamic model manipulator:…”

“…In order to solve such problem, a novel sliding mode control technology, dynamic sliding mode control, is designed [37]. In FTC method, observers are usually designed to estimate disturbances and fault information; for example, in [38] a fault diagnosis via higher order sliding mode observers is proposed for manipulator system; different from [39,40], observers are not considered in this paper, in which, the proposed controller is much easier to realize in practical application.…”

Integral sliding mode control for Euler‐Lagrange systems with input saturation

“…There has been a great interest in the Euler‐Lagrange (EL) system due to the fact that it can be used to describe a wide range of practical systems such as robot manipulators, quadrotor helicopters, tethered satellite systems, and spacecraft attitude control systems . To improve the control performance of the EL system, various control techniques have been investigated by domestic and international scholars .…”

Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

“…Nowadays, robotic systems are very popular in various types of applications (Djebrani et al, 2012;Dulęba and Opałka, 2013;Yarza et al, 2013;Belter et al, 2016). The presence of robots in the industry is one of the best known of, but other areas like medical services are taking more and more advantage of these systems.…”