Czasopismo
Tytuł artykułu
Warianty tytułu
Języki publikacji
Abstrakty
This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new scheme has been experimentally implemented with the aim of confirming the theoretical results.
Wydawca
Rocznik
Tom
Numer
Strony
599-611
Opis fizyczny
Daty
wydano
2013
otrzymano
2012-10-16
poprawiono
2013-06-08
Twórcy
autor
- Division of Graduate Studies and Research, Laguna Institute of Technology, Blvd Revolucion y Cuauhtemoc S/N, 27000, Torreon, Mexico
autor
- Division of Graduate Studies and Research, Laguna Institute of Technology, Blvd Revolucion y Cuauhtemoc S/N, 27000, Torreon, Mexico
autor
- Department of Systems and Control, National Polytechnic Institute (CITEDI), Avenida del Parque 1310, 22510, Tijuana, Mexico
Bibliografia
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Typ dokumentu
Bibliografia
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Identyfikator YADDA
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