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Globally exponential controller/observer for tracking in robots without velocity measurement

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dc.contributor.author Malagari, Srinivasulu
dc.contributor.author Driessen, Brian J.
dc.date.accessioned 2012-04-23T17:43:39Z
dc.date.available 2012-04-23T17:43:39Z
dc.date.issued 2012-03
dc.identifier.citation Malagari, S. and Driessen, B. J. (2012), Globally exponential controller/observer for tracking in robots without velocity measurement. Asian Journal of Control, 14: 309–319. doi: 10.1002/asjc.297 en_US
dc.identifier.issn 1561-8625
dc.identifier.issn 1934-6093
dc.identifier.other WOS: 000301897100001
dc.identifier.uri http://hdl.handle.net/10057/5084
dc.identifier.uri http://dx.doi.org/10.1002/asjc.297
dc.description Click on the DOI link below to access the article (may not be free). en_US
dc.description.abstract In this work, we present an observer and continuous controller for a multiple degree of freedom robotic plant without velocity measurement. For this considered plant, we propose and present an observer/controller that estimates or observes the velocity and drives the position tracking error to zero. We prove that the combined tracking error and observer error converges to zero globally exponentially and that all closed loop signals remain bounded. A contribution of the present paper, as compared to previous work for this same plant, can be deemed to be the globally-exponential convergence of the present paper versus the semi-globally exponential and globally asymptotic results of previous papers. To the best of our knowledge, the present paper is the first proven globally-exponential result for this plant and also the first global result for which the size of the control torque does not increase exponentially with respect to the size of the tracking error. The control torque is continuous; however, the time derivative of the velocity estimate is discontinuous but only at isolated time instants. No sliding modes are used. en_US
dc.language.iso en_US en_US
dc.publisher Blackwell Publishing en_US
dc.relation.ispartofseries Asian Journal of Control;2012:, v.14, no.2
dc.subject Velocity observer en_US
dc.subject Globally exponential tracking (GES) en_US
dc.subject Robot en_US
dc.subject Globally asymptotic tracking en_US
dc.subject Global exponential en_US
dc.subject.classification AUTOMATION & CONTROL SYSTEMS
dc.title Globally exponential controller/observer for tracking in robots without velocity measurement en_US
dc.type Article en_US
dc.description.version Peer reviewed article
dc.rights.holder Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

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