Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement
SUMMARY In this work, we present an adaptive observer/controller for a multiple degree of freedom robotic plant without velocity measurement and without knowledge of plant parameter values. For this considered plant, we propose and present an adaptive observer/controller that estimates or observes t...
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Veröffentlicht in: | International journal of adaptive control and signal processing 2012-05, Vol.26 (5), p.400-418 |
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creator | Malagari, Srinivasulu Driessen, Brian J. |
description | SUMMARY
In this work, we present an adaptive observer/controller for a multiple degree of freedom robotic plant without velocity measurement and without knowledge of plant parameter values. For this considered plant, we propose and present an adaptive observer/controller that estimates or observes the velocity and drives the position tracking error to zero. We prove that the combined tracking error and observer error converges to zero globally asymptotically and that all closed‐loop signals remain bounded. A contribution of the present paper, as compared with previous work for this same plant, can be deemed to be the fact that, to the best of our knowledge, the present paper is the first proven globally asymptotic result for this plant for which the size of the control torque does not increase exponentially with respect to the size of the tracking error. The control torque is discontinuous, however, only at isolated time instants. No sliding modes are used. Copyright © 2011 John Wiley & Sons, Ltd. |
doi_str_mv | 10.1002/acs.1294 |
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In this work, we present an adaptive observer/controller for a multiple degree of freedom robotic plant without velocity measurement and without knowledge of plant parameter values. For this considered plant, we propose and present an adaptive observer/controller that estimates or observes the velocity and drives the position tracking error to zero. We prove that the combined tracking error and observer error converges to zero globally asymptotically and that all closed‐loop signals remain bounded. A contribution of the present paper, as compared with previous work for this same plant, can be deemed to be the fact that, to the best of our knowledge, the present paper is the first proven globally asymptotic result for this plant for which the size of the control torque does not increase exponentially with respect to the size of the tracking error. The control torque is discontinuous, however, only at isolated time instants. No sliding modes are used. Copyright © 2011 John Wiley & Sons, Ltd.</description><identifier>ISSN: 0890-6327</identifier><identifier>EISSN: 1099-1115</identifier><identifier>DOI: 10.1002/acs.1294</identifier><language>eng</language><publisher>Chichester, UK: John Wiley & Sons, Ltd</publisher><subject>adaptive robot tracking ; Asymptotic properties ; Controllers ; Degrees of freedom ; Estimates ; global asymptotic ; globally asymptotic tracking (GAS) ; output feedback ; Robots ; Torque ; Tracking errors ; Velocity measurement ; velocity observer</subject><ispartof>International journal of adaptive control and signal processing, 2012-05, Vol.26 (5), p.400-418</ispartof><rights>Copyright © 2011 John Wiley & Sons, Ltd.</rights><rights>Copyright © 2012 John Wiley & Sons, Ltd.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c3644-7587283f6d19204a65de768cd4f95678c53e0a2de2defe0d160a6b9974e6e4643</citedby><cites>FETCH-LOGICAL-c3644-7587283f6d19204a65de768cd4f95678c53e0a2de2defe0d160a6b9974e6e4643</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://onlinelibrary.wiley.com/doi/pdf/10.1002%2Facs.1294$$EPDF$$P50$$Gwiley$$H</linktopdf><linktohtml>$$Uhttps://onlinelibrary.wiley.com/doi/full/10.1002%2Facs.1294$$EHTML$$P50$$Gwiley$$H</linktohtml><link.rule.ids>314,778,782,1414,27907,27908,45557,45558</link.rule.ids></links><search><creatorcontrib>Malagari, Srinivasulu</creatorcontrib><creatorcontrib>Driessen, Brian J.</creatorcontrib><title>Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement</title><title>International journal of adaptive control and signal processing</title><addtitle>Int. J. Adapt. Control Signal Process</addtitle><description>SUMMARY
In this work, we present an adaptive observer/controller for a multiple degree of freedom robotic plant without velocity measurement and without knowledge of plant parameter values. For this considered plant, we propose and present an adaptive observer/controller that estimates or observes the velocity and drives the position tracking error to zero. We prove that the combined tracking error and observer error converges to zero globally asymptotically and that all closed‐loop signals remain bounded. A contribution of the present paper, as compared with previous work for this same plant, can be deemed to be the fact that, to the best of our knowledge, the present paper is the first proven globally asymptotic result for this plant for which the size of the control torque does not increase exponentially with respect to the size of the tracking error. The control torque is discontinuous, however, only at isolated time instants. No sliding modes are used. Copyright © 2011 John Wiley & Sons, Ltd.</description><subject>adaptive robot tracking</subject><subject>Asymptotic properties</subject><subject>Controllers</subject><subject>Degrees of freedom</subject><subject>Estimates</subject><subject>global asymptotic</subject><subject>globally asymptotic tracking (GAS)</subject><subject>output feedback</subject><subject>Robots</subject><subject>Torque</subject><subject>Tracking errors</subject><subject>Velocity measurement</subject><subject>velocity observer</subject><issn>0890-6327</issn><issn>1099-1115</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2012</creationdate><recordtype>article</recordtype><recordid>eNp10NFKHDEUBuBQKnSrQh8h4I034yaTTDK5lK3dKqKgrYXehGzmTBvNTNYkszpv7yxKpYJw4Fycj5_Dj9AXSo4oIeXc2HRES8U_oBklShWU0uojmpFakUKwUn5Cn1O6JWS6UTZDzdKHlfF-xCaN3TqH7Cw2jVlntwFsQ59j8B7iPKwSxA1E3IaIczT2zvV_sOtxDKuQE35w-W8YMt6AD9blEXdg0hChgz7voZ3W-AT7L3sX_fx28mPxvTi_XJ4ujs8LywTnhaxqWdasFQ1VJeFGVA1IUduGt6oSsrYVA2LKBqZpgTRUECNWSkkOArjgbBcdPueuY7gfIGXduWTBe9NDGJKmtWLTSC4mevCG3oYh9tN3k6pLIkjF69dAG0NKEVq9jq4zcdSU6G3deqpbb-ueaPFMH5yH8V2njxfX_3uXMjz-8ybeaSGZrPSvi6U-u_pKft-oUl-wJ5gmkUE</recordid><startdate>201205</startdate><enddate>201205</enddate><creator>Malagari, Srinivasulu</creator><creator>Driessen, Brian J.</creator><general>John Wiley & Sons, Ltd</general><general>Wiley Subscription Services, Inc</general><scope>BSCLL</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>201205</creationdate><title>Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement</title><author>Malagari, Srinivasulu ; Driessen, Brian J.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c3644-7587283f6d19204a65de768cd4f95678c53e0a2de2defe0d160a6b9974e6e4643</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2012</creationdate><topic>adaptive robot tracking</topic><topic>Asymptotic properties</topic><topic>Controllers</topic><topic>Degrees of freedom</topic><topic>Estimates</topic><topic>global asymptotic</topic><topic>globally asymptotic tracking (GAS)</topic><topic>output feedback</topic><topic>Robots</topic><topic>Torque</topic><topic>Tracking errors</topic><topic>Velocity measurement</topic><topic>velocity observer</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Malagari, Srinivasulu</creatorcontrib><creatorcontrib>Driessen, Brian J.</creatorcontrib><collection>Istex</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>International journal of adaptive control and signal processing</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Malagari, Srinivasulu</au><au>Driessen, Brian J.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement</atitle><jtitle>International journal of adaptive control and signal processing</jtitle><addtitle>Int. J. Adapt. Control Signal Process</addtitle><date>2012-05</date><risdate>2012</risdate><volume>26</volume><issue>5</issue><spage>400</spage><epage>418</epage><pages>400-418</pages><issn>0890-6327</issn><eissn>1099-1115</eissn><abstract>SUMMARY
In this work, we present an adaptive observer/controller for a multiple degree of freedom robotic plant without velocity measurement and without knowledge of plant parameter values. For this considered plant, we propose and present an adaptive observer/controller that estimates or observes the velocity and drives the position tracking error to zero. We prove that the combined tracking error and observer error converges to zero globally asymptotically and that all closed‐loop signals remain bounded. A contribution of the present paper, as compared with previous work for this same plant, can be deemed to be the fact that, to the best of our knowledge, the present paper is the first proven globally asymptotic result for this plant for which the size of the control torque does not increase exponentially with respect to the size of the tracking error. The control torque is discontinuous, however, only at isolated time instants. No sliding modes are used. Copyright © 2011 John Wiley & Sons, Ltd.</abstract><cop>Chichester, UK</cop><pub>John Wiley & Sons, Ltd</pub><doi>10.1002/acs.1294</doi><tpages>19</tpages></addata></record> |
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subjects | adaptive robot tracking Asymptotic properties Controllers Degrees of freedom Estimates global asymptotic globally asymptotic tracking (GAS) output feedback Robots Torque Tracking errors Velocity measurement velocity observer |
title | Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement |
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