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Tracking Control of Robot Manipulators with Bounded Torque Inputs

Published online by Cambridge University Press:  01 March 1999

W.E. Dixon ,
M.S. de Queiroz ,
F. Zhang  and
D.M. Dawson
W.E. Dixon
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu
M.S. de Queiroz
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu
F. Zhang
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu
D.M. Dawson
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu
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Abstract

This paper examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback controller and an exact model knowledge, output feedback controller are designed to produce semi-global asymptotic link position tracking errors. Simulation results are provided to validate the theoretical concepts, and a comparative analysis demonstrates the benefits of the proposed controllers.

Keywords

Tracking controlRobotsBounded torque inputFeedback controllers
Type
Research Article
Information
Robotica , Volume 17 , Issue 2 , March 1999 , pp. 121 - 129
Copyright
© 1998 Cambridge University Press

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