Referenced Items are not available for this document.
The contribution of this paper is a dynamic position feedback global tracking controller for fully actuated Euler-Lagrange (EL) systems. The properties we show for the closed loop system are uniform stability and exponential convergence, global in the initial tracking errors and semiglobal in the initial estimation errors. The novelty of our approach is that our observer and control design are based on a new model for EL systems which is linear in the immeasurable velocities. This model is shown to fit robot manipulators. We also provide some simulation results
Published in:
Automatic Control, IEEE Transactions on
(Volume:47
,
Issue:
5
)
Date of Publication: May 2002
- Page(s):
- 841 - 847
- ISSN :
- 0018-9286
- INSPEC Accession Number:
- 7303937
- Digital Object Identifier :
- 10.1109/TAC.2002.1000284
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 07 August 2002
- Issue Date :
- May 2002
- Sponsored by :
- IEEE Control Systems Society
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