Adaptive output feedback tracking control for a class of nonlinearly parameterised uncertain systems

2019 ◽  
pp. 1-14
Author(s):  
Shuai Yan ◽  
Weichao Sun ◽  
Fenghua He
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Uncertain Systems ◽  
Feedback Tracking

Global tracking for robot manipulators using a simple causal PD controller plus feedforward

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 23-34 ◽  
Author(s):  
Eduardo V. L. Nunes ◽  
Liu Hsu
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Uncertain Systems ◽  
Robot Manipulators ◽  
Asymptotically Stable ◽  
Pd Controller ◽  
Globally Asymptotically Stable ◽  
Error System ◽  
Bounded Input ◽  
Feedback Tracking

SUMMARYThis paper shows that a well-known causal PD controller plus feedforward solves the global output feedback tracking control problem of robot manipulators, by requiring only the existence of the robot natural damping, no matter how small. To this end, we first demonstrate that a robot controlled by a causal PD is globally input-to-state stable (ISS) with respect to a bounded input disturbance. Then, we prove that the addition of a feedforward compensation renders the error system uniformly globally asymptotically stable. Furthermore, we present a possible extension to more general nonlinear systems and also to uncertain systems.

Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV

2006 ◽  
Author(s):  
DongBin Lee ◽  
Timothy Burg ◽  
Bin Xian ◽  
Darren Dawson
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Feedback Tracking
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