Global output feedback tracking control for rigid-link flexible-joint robots

W. E. Dixon; E. Zergeroglu; M. S. De Queiroz; D. M. Dawson

doi:10.1109/ROBOT.1998.677023

Global output feedback tracking control for rigid-link flexible-joint robots

W. E. Dixon
, E. Zergeroglu
, M. S. De Queiroz
, D. M. Dawson

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

In this paper, we present a global, output feedback, tracking controller for rigid-link, flexible-joint robots. Specifically, we design an exact model knowledge, Lyapunov-based controller which provides global asymptotic link position tracking despite the fact that only link position measurements are available.

Original language	English
Title of host publication	Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	498-503
Number of pages	6
ISBN (Print)	078034300X
DOIs	https://doi.org/10.1109/ROBOT.1998.677023
State	Published - 1998
Externally published	Yes
Event	15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: May 16 1998 → May 20 1998

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
ISSN (Print)	1050-4729

Conference

Conference	15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country/Territory	Belgium
City	Leuven
Period	05/16/98 → 05/20/98

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10.1109/ROBOT.1998.677023

Cite this

Dixon, W. E., Zergeroglu, E., De Queiroz, M. S., & Dawson, D. M. (1998). Global output feedback tracking control for rigid-link flexible-joint robots. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 498-503). Article 677023 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.677023

Dixon, W. E. ; Zergeroglu, E. ; De Queiroz, M. S. et al. / Global output feedback tracking control for rigid-link flexible-joint robots. Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc., 1998. pp. 498-503 (Proceedings - IEEE International Conference on Robotics and Automation).

@inproceedings{89a0f11b0c53405e8832a9f9496558c2,

title = "Global output feedback tracking control for rigid-link flexible-joint robots",

abstract = "In this paper, we present a global, output feedback, tracking controller for rigid-link, flexible-joint robots. Specifically, we design an exact model knowledge, Lyapunov-based controller which provides global asymptotic link position tracking despite the fact that only link position measurements are available.",

author = "Dixon, \{W. E.\} and E. Zergeroglu and \{De Queiroz\}, \{M. S.\} and Dawson, \{D. M.\}",

note = "Publisher Copyright: {\textcopyright} 1998 IEEE.; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",

year = "1998",

doi = "10.1109/ROBOT.1998.677023",

language = "English",

isbn = "078034300X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "498--503",

booktitle = "Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998",

}

Dixon, WE, Zergeroglu, E, De Queiroz, MS & Dawson, DM 1998, Global output feedback tracking control for rigid-link flexible-joint robots. in Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998., 677023, Proceedings - IEEE International Conference on Robotics and Automation, vol. 1, Institute of Electrical and Electronics Engineers Inc., pp. 498-503, 15th IEEE International Conference on Robotics and Automation, ICRA 1998, Leuven, Belgium, 05/16/98. https://doi.org/10.1109/ROBOT.1998.677023

Global output feedback tracking control for rigid-link flexible-joint robots. / Dixon, W. E.; Zergeroglu, E.; De Queiroz, M. S. et al.
Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc., 1998. p. 498-503 677023 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Global output feedback tracking control for rigid-link flexible-joint robots

AU - Dixon, W. E.

AU - Zergeroglu, E.

AU - De Queiroz, M. S.

AU - Dawson, D. M.

PY - 1998

Y1 - 1998

N2 - In this paper, we present a global, output feedback, tracking controller for rigid-link, flexible-joint robots. Specifically, we design an exact model knowledge, Lyapunov-based controller which provides global asymptotic link position tracking despite the fact that only link position measurements are available.

AB - In this paper, we present a global, output feedback, tracking controller for rigid-link, flexible-joint robots. Specifically, we design an exact model knowledge, Lyapunov-based controller which provides global asymptotic link position tracking despite the fact that only link position measurements are available.

UR - https://www.scopus.com/pages/publications/0031620553

U2 - 10.1109/ROBOT.1998.677023

DO - 10.1109/ROBOT.1998.677023

M3 - Conference contribution

AN - SCOPUS:0031620553

SN - 078034300X

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 498

EP - 503

BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998

Y2 - 16 May 1998 through 20 May 1998

ER -

Dixon WE, Zergeroglu E, De Queiroz MS, Dawson DM. Global output feedback tracking control for rigid-link flexible-joint robots. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998. Institute of Electrical and Electronics Engineers Inc. 1998. p. 498-503. 677023. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.1998.677023

Global output feedback tracking control for rigid-link flexible-joint robots

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