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Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement
Malagari, Srinivasulu Driessen, Brian J.
Malagari, Srinivasulu
Driessen, Brian J.
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2011-04
Type
Article
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Keywords
Bouc-Wen,Actuators,Drives,LuGre,Hysteresis,Hysteretic friction,Hysteresis observer,Nonlinear controls,Robot,Semi-globally exponential tracking,SGES,Velocity observer,Semi-global exponential
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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.
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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
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Springer
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Journal of Intelligent and Robotic Systems: Theory and Applications;62 (1), pp:29-58.
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0921-0296