Global adaptive output feedback tracking control of robot manipulators
نویسندگان
چکیده
This paper presents a solution to the problem of global, output feedback, tracking control of uncertain robot manipulators. Specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking while compensating for parametric uncertainty and requiring only link position measurements.
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ورودعنوان ژورنال:
- IEEE Trans. Automat. Contr.
دوره 45 شماره
صفحات -
تاریخ انتشار 2000