期刊
INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE
卷 23, 期 3, 页码 599-611出版社
UNIV ZIELONA GORA PRESS
DOI: 10.2478/amcs-2013-0045
关键词
adaptive control; robot control; nonlinear control; output feedback; Lyapunov UGAS stability
资金
- CONACyT [134534, 176587]
- DGEST
- SIP-IPN
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据