Semi-globally exponential tracking observer/controller for robots with joint hysteresis and without velocity measurement

DOI10.1007/s10846-010-9437-4zbMath1245.93090OpenAlexW2036242063MaRDI QIDQ441425

Brian J. Driessen, Srinivasulu Malagari

Publication date: 23 August 2012

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-010-9437-4

zbMATH Keywords

hysteresisrobotvelocity observeractuatorsbouc-wendriveshysteresis observerhysteretic frictionlugrenonlinear controlssemi-global exponential trackingsemi-globally exponential trackingSGES

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Cites Work

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• Tracking observer/controller for a relatively large class of systems with hysteresis and without velocity measurement
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• A new model for control of systems with friction
• A partial state feedback controller for tajectory tracking of rigid‐link fiexible‐joint robot using an observed backstepping approach
• Robot control by using only joint position measurements
• Fault Diagnosis for Nonlinear Uncertain Systems Using Robust/Sliding Mode Observers

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