Output feedback controller for trajectory tracking of robot manipulators without velocity measurements nor observers
DOI10.1049/iet-cta.2020.0037zbMATH Open1542.93126MaRDI QIDQ6608913
Raúl Rascón, Javier Moreno-Valenzuela
Publication date: 20 September 2024
Published in: IET Control Theory \& Applications (Search for Journal in Brave)
stabilityfirst-order systemtrackingstability analysisadaptive controlfeedbackrobust controlfrictionadaptive estimatortrajectory trackingvariable structure systemsrobot manipulatorsLyapunov methodsPID controllertracking controlclosed loop systemsoutput feedback controllerdynamic linear controllerdynamic gaincontrol system synthesismanipulatorsgain matricesvelocity measurementsclosed-loop designthree-term controlviscous friction coefficientclosed-loop stability analysesDOF SCARA robot manipulatorDOF systemsnDOF Lagrangian systemsnDOF manipulatorstunable gain parameters
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