Asymptotic observer design for constrained robot systems

Huang, Han‐Pang; Tseng, Wen-Sheng

doi:10.1049/ip-d.1991.0030

Cited by 12 publications

(2 citation statements)

References 4 publications

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“…The remaining joint variables are denoted by ( ) q q (7) and 1 1 ( ( )) 0 q q (8) for q 1 . If rank J(q) = m, then = R n m [25,26].…”

Section: Reduced Form Of Constrained Robotsmentioning

confidence: 99%

Mixed H2/H∞ Adaptive Tracking Control Design for Uncertain Constrained Robots

Tseng

2008

Asian Journal of Control

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In this study, a PID-type controller incorporating an adaptive learning scheme for the mixed H 2 /H tracking performance is developed for constrained robots under unknown or uncertain plant parameters and external disturbances. The mixed H 2 /H control design has the advantage of both H 2 optimal control performance and H robust control performance and the adaptive control scheme is used to compensate the plant uncertainties. By virtue of the skew-symmetric property of the constrained robotic systems and an adequate choice of state variable transformation, sufficient conditions are developed for the adaptive mixed H 2 /H tracking control problems in terms of a pair of coupled algebraic equations instead of a pair of coupled nonlinear differential equations. The proposed methods are simple and the coupled algebraic equations can be solved analytically. Simulation results indicate that the desired performance of the proposed adaptive mixed H 2 /H tracking control schemes for the uncertain constrained robotic systems can be achieved.

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“…The remaining joint variables are denoted by ( ) q q (7) and 1 1 ( ( )) 0 q q (8) for q 1 . If rank J(q) = m, then = R n m [25,26].…”

Section: Reduced Form Of Constrained Robotsmentioning

confidence: 99%

Mixed H2/H∞ Adaptive Tracking Control Design for Uncertain Constrained Robots

Tseng

2008

Asian Journal of Control

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“…In Huang and Tzeng, 7 a force control strategy is proposed by using an estimated contact force; in this approach, the results of Vidyasagar, 16 are used for the observer design. In Huang and Tzeng, 8 two types of force observers are designed for constrained robot systems. In this model, the algebraic variables are regarded as state variables without differential equations.…”

Section: Introductionmentioning

confidence: 99%

Force and velocity observers for the control of cooperative robots

Martínez-rosas

Arteaga

2008

Robotica

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SUMMARYIn this paper, we design a position/force controller for cooperative robots during constrained motion. The proposed scheme is based on the knowledge of the manipulator dynamics and does not require measurements of link velocity or end-effector contact forces. A well-known velocity observer and the design of a force observer are used. The validity of the proposed method is verified by means of experimental results.

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