Tracking control of robot manipulators with bounded torque inputs

W. E. Dixon; M. S. De Queiroz; F. Zhang; D. M. Dawson

doi:10.1017/S0263574799001228

Tracking control of robot manipulators with bounded torque inputs

W. E. Dixon
, M. S. De Queiroz
, F. Zhang
, D. M. Dawson

Research output: Contribution to journal › Article › peer-review

110 Scopus citations

Abstract

This paper examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback controller and an exact model knowledge, output feedback controller are designed to produce semi-global asymptotic link position tracking errors. Simulation results are provided to validate the theoretical concepts, and a comparative analysis demonstrates the benefits of the proposed controllers.

Original language	English
Pages (from-to)	121-129
Number of pages	9
Journal	Robotica
Volume	17
Issue number	2
DOIs	https://doi.org/10.1017/S0263574799001228
State	Published - 1999
Externally published	Yes

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title = "Tracking control of robot manipulators with bounded torque inputs",

abstract = "This paper examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback controller and an exact model knowledge, output feedback controller are designed to produce semi-global asymptotic link position tracking errors. Simulation results are provided to validate the theoretical concepts, and a comparative analysis demonstrates the benefits of the proposed controllers.",

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

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AU - Dixon, W. E.

AU - De Queiroz, M. S.

AU - Zhang, F.

AU - Dawson, D. M.

PY - 1999

Y1 - 1999

N2 - This paper examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback controller and an exact model knowledge, output feedback controller are designed to produce semi-global asymptotic link position tracking errors. Simulation results are provided to validate the theoretical concepts, and a comparative analysis demonstrates the benefits of the proposed controllers.

AB - This paper examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback controller and an exact model knowledge, output feedback controller are designed to produce semi-global asymptotic link position tracking errors. Simulation results are provided to validate the theoretical concepts, and a comparative analysis demonstrates the benefits of the proposed controllers.

UR - https://www.scopus.com/pages/publications/0032633678

U2 - 10.1017/S0263574799001228

DO - 10.1017/S0263574799001228

M3 - Article

AN - SCOPUS:0032633678

SN - 0263-5747

VL - 17

SP - 121

EP - 129

JO - Robotica

JF - Robotica

IS - 2

ER -

Tracking control of robot manipulators with bounded torque inputs

Abstract

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