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dc.contributor.authorMalagari, Srinivasulu
dc.contributor.authorDriessen, Brian J.
dc.date.accessioned2012-06-07T16:38:37Z
dc.date.available2012-06-07T16:38:37Z
dc.date.issued2012-05
dc.identifier.citationMalagari S., and Driessen B.J. 2012. "Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement". International Journal of Adaptive Control and Signal Processing. 26 (5): 400-418.en_US
dc.identifier.issn0890-6327
dc.identifier.otherWOS: 000303978300003
dc.identifier.urihttp://hdl.handle.net/10057/5117
dc.identifier.urihttp://dx.doi.org/10.1002/acs.1294
dc.descriptionClick on the DOI link below to access the article (may not be free).en_US
dc.description.abstractIn this work, we present an adaptive observer/controller for a multiple degree of freedom robotic plant without velocity measurement and without knowledge of plant parameter values. For this considered plant, we propose and present an adaptive 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 asymptotically and that all closed-loop signals remain bounded. A contribution of the present paper, as compared with previous work for this same plant, can be deemed to be the fact that, to the best of our knowledge, the present paper is the first proven globally asymptotic result for this plant 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 discontinuous, however, only at isolated time instants. No sliding modes are used.en_US
dc.language.isoen_USen_US
dc.publisherWILEY-BLACKWELLen_US
dc.relation.ispartofseriesInternational Journal of Adaptive Control and Signal Processing;2012, Vol. 26, No. 5
dc.subjectVelocity observeren_US
dc.subjectGlobally asymptotic tracking (GAS)en_US
dc.subjectAdaptive robot trackingen_US
dc.subjectGlobal asymptoticen_US
dc.subjectOutput feedbacken_US
dc.subject.classificationAUTOMATION & CONTROL SYSTEMS
dc.subject.classificationENGINEERING
dc.titleGlobally asymptotic adaptive controller/observer for tracking in robots without velocity measurementen_US
dc.typeArticleen_US
dc.description.versionPeer reviewed
dc.rights.holderCopyright © 2011 John Wiley & Sons, Ltd.


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