Semi-globally exponential and globally exponential tracking observer/controllers for robotic plants

Abstract

This work is concerned with semi-globally and globally exponential observer/controllers for robotic plants. This dissertation work culminated in the following six [6] journal publications: 1. Malagari, S. and Driessen, B.J., “Globally Exponential Continuous Controller/Observer for Position Tracking in Robot Manipulators with Hysteretic Joint Friction,” Robotica, Vol. 28, No. 5, 2010, pp. 759-763. 2. Malagari, S. and Driessen, B.J., “Semi Globally Exponential Tracking Observer/Controller for Robots with Joint Hysteresis and Without Velocity Measurement,” Journal of Intelligent and Robotic Systems, 2011, Vol. 62, No. 1, pp. 29-58. 3. Malagari, S. and Driessen, B.J., “Adjustable-Rate Semi-Globally Exponential Observer/Controller for Tracking in Robots With Actuator Dynamics and Only Link Position Measurement,” Control and Intelligent Systems, Vol. 38, No. 1, 2010, pp. 249-262. 4. Malagari, S. and Driessen, B.J., “Globally Exponential Controller/Observer for Tracking in Robots Without Velocity Measurement,” accepted to Asian Journal of Control, doi: 10.1002/asjc.297. 5. Malagari, S. and Driessen, B., “Globally Asymptotic Adaptive Controller/Observer for Tracking in Robots Without Velocity Measurement,” under minor revision at the International Journal of Adaptive Control and Signal Processing. 6. Malagari, S. and Driessen, B., “Globally Exponential Controller/Observer for Tracking in Robots with DC Motor Dynamics and Only Link Position Measurement,” under first-round review at the journal, Robotica. Paper 1 developed a controller and observer for estimation of unknown hysteretic joint friction for a multiple DOF robot manipulator. The first four papers are already published. The fifth paper is under second-round reviews at the International Journal of Adaptive Control and Signal Processing, and the sixth paper is still under first round review at the journal Robotica. For a combination of logistical and proprietary reasons, the fifth and sixth journal papers will not be included as chapters of this dissertation, but we will give some summary of them here in Chapter 1. The first four journal papers constitute Chapters 2-5.