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dc.contributor.authorMalagari, Srinivasulu
dc.contributor.authorDriessen, Brian J.
dc.date.accessioned2011-12-01T20:25:00Z
dc.date.available2011-12-01T20:25:00Z
dc.date.issued2011-04
dc.identifier.citationMalagari 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.issn0921-0296
dc.identifier.otherWOS ID:000288457400003
dc.identifier.urihttp://hdl.handle.net/10057/4004
dc.identifier.urihttp://dx.doi.org/ 10.1007/s10846-010-9437-4
dc.descriptionThe 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=1379498en_US
dc.description.abstractIn 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.isoen_USen_US
dc.publisherSpringeren_US
dc.relation.ispartofseriesJournal of Intelligent and Robotic Systems: Theory and Applications;62 (1), pp:29-58.
dc.subjectBouc-Wenen_US
dc.subjectActuatorsen_US
dc.subjectDrivesen_US
dc.subjectLuGreen_US
dc.subjectHysteresisen_US
dc.subjectHysteretic frictionen_US
dc.subjectHysteresis observeren_US
dc.subjectNonlinear controlsen_US
dc.subjectRoboten_US
dc.subjectSemi-globally exponential trackingen_US
dc.subjectSGESen_US
dc.subjectVelocity observeren_US
dc.subjectSemi-global exponentialen_US
dc.titleSemi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurementen_US
dc.typeArticleen_US
dc.description.versionPeer reviewed article
dc.rights.holder© Springer Science+Business Media B.V.


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