Position tracking control for robot manipulators driven by induction motors without flux measurements

1996 ◽  
Vol 12 (3) ◽  
pp. 419-438 ◽  
Author(s):  
Jun Hu ◽  
D.M. Dawson ◽  
Yi Qian
Keyword(s):  
Tracking Control ◽  
Induction Motors ◽  
Robot Manipulators ◽  
Position Tracking ◽  
Flux Measurements ◽  
Position Tracking Control

scholarly journals Tracking Control of Robot Manipulators with Bounded Torque Inputs

Robotica ◽  
1999 ◽  
Vol 17 (2) ◽  
pp. 121-129 ◽  
Author(s):  
W.E. Dixon ◽  
M.S. de Queiroz ◽  
F. Zhang ◽  
D.M. Dawson
Keyword(s):  
Tracking Control ◽  
State Feedback ◽  
Robot Manipulators ◽  
Feedback Controller ◽  
Position Tracking ◽  
Tracking Errors ◽  
Theoretical Concepts ◽  
Full State ◽  
Full State Feedback ◽  
Position Tracking Control

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.

Global robust output feedback tracking control of robot manipulators

Robotica ◽  
2004 ◽  
Vol 22 (4) ◽  
pp. 351-357 ◽  
Author(s):  
W. E. Dixon ◽  
E. Zergeroglu ◽  
D. M. Dawson
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Robot Manipulators ◽  
Tracking Error ◽  
Parametric Uncertainty ◽  
Position Tracking ◽  
Incomplete Model ◽  
Bounded Disturbances ◽  
Position Tracking Control ◽  
Feedback Tracking

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).

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