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- Title
Global robust output feedback tracking control of robot manipulators.
- Authors
Dixon, W. E.; Zergeroglu, E.; Dawson, D. M.
- Abstract
This paper addresses the problem of global output feedback, link position tracking control of robot manipulators. Specifically, a robust, Lyapunov-based controller is designed to ensure that the link position tracking error is globally uniformly ultimately bounded despite the fact that only link position measurements are available in the presence of incomplete model information (i.e., parametric uncertainty and additive bounded disturbances).
- Subjects
MANIPULATORS (Machinery); ELECTRIC controllers; ROBOT control systems; ROBOTICS; AUTOMATIC tracking
- Publication
Robotica, 2004, Vol 22, Issue 4, p351
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/s0263574704000189