An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation

DOI10.2478/amcs-2013-0045zbMath1279.93078OpenAlexW1987363312MaRDI QIDQ5396436

Javier Moreno-Valenzuela, Victor Santibáñez, Antonio Yarza

Publication date: 6 February 2014

Published in: International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.2478/amcs-2013-0045

zbMATH Keywords

nonlinear controladaptive controlLyapunov stabilityoutput feedbackrobot controluniform global asymptotic stability (UGAS)

Mathematics Subject Classification ID

Feedback control (93B52) Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

Related Items (7)

A novel nonlinear fault tolerant control for manipulator under actuator fault ⋮ Saturating stiffness control of robot manipulators with bounded inputs ⋮ Nonlinear control for a Diesel engine: a CLF-based approach ⋮ Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking ⋮ A generalized global adaptive tracking control scheme for robot manipulators with bounded inputs ⋮ Trajectory tracking control for robot manipulators using only position measurements ⋮ On global trajectory tracking control of robot manipulators in cylindrical phase space

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