Cart (Loading....) | Create Account
Close category search window
 

PD Output Feedback Control Design for Industrial Robotic Manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Islam, S. ; Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, ON, Canada ; Liu, P.X.

This paper presents an output feedback proportional--derivative (PD)-type controller for the trajectory tracking control of robotic manipulators. In the first part of the paper, we propose a PD-like output-feedback control law. The design comprises a PD term with nominal robot dynamics, where the unknown velocity signals are estimated from the output of the linear estimator. Using Lyapunov analysis, we characterize the asymptotic property of all the signals in the closed-loop error model dynamics. This property sets the bound on the tracking error trajectory of the closed-loop system. In the second part, we remove the nominal model dynamics from the control design to formulate a model-independent PD-type output feedback approach. Using an asymptotic analysis for the singularly perturbed closed-loop model, we guarantee that all the signals under the proposed PD output feedback design are bounded and their bounds can be made arbitrarily small by using observer-controller gains. Implementation of results demonstrate the potential application of the proposed method on real systems.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:16 ,  Issue: 1 )

Date of Publication:

Feb. 2011

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.