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Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement

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dc.contributor.author Malagari, Srinivasulu
dc.contributor.author Driessen, Brian J.
dc.date.accessioned 2011-12-01T20:25:00Z
dc.date.available 2011-12-01T20:25:00Z
dc.date.issued 2011-04
dc.identifier.citation Malagari S., and Driessen B.J. 2011. "Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement".Journal of Intelligent and Robotic Systems: Theory and Applications. 62 (1): 29-58. en_US
dc.identifier.issn 0921-0296
dc.identifier.other WOS ID:000288457400003
dc.identifier.uri http://hdl.handle.net/10057/4004
dc.identifier.uri http://dx.doi.org/ 10.1007/s10846-010-9437-4
dc.description The full text of this article is not available on SOAR. WSU users can access the article via database licensed by University Libraries: http://libcat.wichita.edu/vwebv/holdingsInfo?bibId=1379498 en_US
dc.description.abstract In this work, we consider a multiple degree of freedom robotic plant with joint hysteresis and without velocity measurement. We show, by construction, how a semi-globally exponential hysteresis observer/controller that assumes velocity measurement, a number of which we point out from the literature, can be combined/modified with a velocity observer to yield a combined semi-globally exponential tracking observer/controller. The resulting observer/controller estimates both the hysteresis state and the joint velocity. We prove that the combined estimation error and tracking error converges to zero semi-globally exponentially. One deemed contribution as compared to previous work for this same type of plant is that the usual requirement of velocity measurement has been removed; another is the proved semi-globally exponential result. en_US
dc.language.iso en_US en_US
dc.publisher Springer en_US
dc.relation.ispartofseries Journal of Intelligent and Robotic Systems: Theory and Applications;62 (1), pp:29-58.
dc.subject Bouc-Wen en_US
dc.subject Actuators en_US
dc.subject Drives en_US
dc.subject LuGre en_US
dc.subject Hysteresis en_US
dc.subject Hysteretic friction en_US
dc.subject Hysteresis observer en_US
dc.subject Nonlinear controls en_US
dc.subject Robot en_US
dc.subject Semi-globally exponential tracking en_US
dc.subject SGES en_US
dc.subject Velocity observer en_US
dc.subject Semi-global exponential en_US
dc.title Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement en_US
dc.type Article en_US
dc.description.version Peer reviewed article
dc.rights.holder © Springer Science+Business Media B.V.

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