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A Model-Free Controller for Guaranteed Prescribed Performance Tracking of Both Robot Joint Positions and Velocities
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. Department of Signals and Systems, Chalmers University of Technology, Gothenburg, Sweden.
2016 (English)In: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 1, no 1, p. 267-273, article id 7377028Article in journal (Refereed) Published
Abstract [en]

The problem of robot joint position and velocity tracking with prescribed performance guarantees is considered. The proposed controller is able to guarantee a prescribed transient and steady state behavior for the position and the velocity tracking errors without utilizing either the robot dynamic model or any approximation structures. Its performance is demonstrated and assessed via experiments with a KUKA LWR4+ arm. 

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. Vol. 1, no 1, p. 267-273, article id 7377028
Keyword [en]
Motion Control of Manipulators, Robust/Adaptive Control of Robotic Systems, Controllers, Robotics, Robots, Model free controller, Prescribed performance, Robot dynamics, Robot joint, Robotic systems, Steady-state behaviors, Velocity tracking, Manipulators
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-216889DOI: 10.1109/LRA.2016.2516245ISI: 000413719900036Scopus ID: 2-s2.0-85027387333OAI: oai:DiVA.org:kth-216889DiVA, id: diva2:1160770
Funder
Swedish Research Council
Note

 QC 20171128

Available from: 2017-11-28 Created: 2017-11-28 Last updated: 2017-12-04Bibliographically approved

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