• Login
    View Item 
    •   Shocker Open Access Repository Home
    • Engineering
    • Mechanical Engineering
    • ME Research Publications
    • View Item
    •   Shocker Open Access Repository Home
    • Engineering
    • Mechanical Engineering
    • ME Research Publications
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

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

    View/Open
    Driessen_2011 (779.3Kb)
    Date
    2011-04
    Author
    Malagari, Srinivasulu
    Driessen, Brian J.
    Metadata
    Show full item record
    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.
    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.
    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
    URI
    http://hdl.handle.net/10057/4004
    http://dx.doi.org/ 10.1007/s10846-010-9437-4
    Collections
    • ME Research Publications

    Browse

    All of Shocker Open Access RepositoryCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsBy TypeThis CollectionBy Issue DateAuthorsTitlesSubjectsBy Type

    My Account

    LoginRegister

    Statistics

    Most Popular ItemsStatistics by CountryMost Popular Authors

    DSpace software copyright © 2002-2023  DuraSpace
    DSpace Express is a service operated by 
    Atmire NV