Change search
ReferencesLink to record
Permanent link

Direct link
Model-free robot joint position regulation and tracking with prescribed performance guarantees
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0001-5129-342X
Aristotle University of Thessaloniki, Greece.
2012 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 60, no 2, 214-226 p.Article in journal (Refereed) Published
Abstract [en]

The problem of robot joint position control with prescribed performance guarantees is considered; the control objective is the error evolution within prescribed performance bounds in both problems of regulation and tracking. The proposed controllers do not utilize either the robot dynamic model or any approximation structures and are composed by simple PID or PD controllers enhanced by a proportional term of a transformed error through a transformation related gain. Under a sufficient condition for the damping gain, the proposed controllers are able to guarantee (i) predefined minimum speed of convergence, maximum steady state error and overshoot concerning the position error and (ii) uniformly ultimate boundedness (UUB) of the velocity error. The use of the integral term reduces residual errors allowing the proof of asymptotic convergence of both velocity and position errors to zero for the regulation problem under constant disturbances. Performance is a priori guaranteed irrespective of the selection of the control gain values. Simulation results of a three dof spatial robotic manipulator and experimental results of one dof manipulator are given to confirm the theoretical findings.

Place, publisher, year, edition, pages
Elsevier, 2012. Vol. 60, no 2, 214-226 p.
Keyword [en]
Robot motion control; Prescribed performance; Approximator-free controller
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-50917DOI: 10.1016/j.robot.2011.10.007ISI: 000300747800007ScopusID: 2-s2.0-84855189414OAI: diva2:463032
ICT - The Next Generation

QC 20120326

Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2016-04-25Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Karayiannidis, Yiannis
By organisation
Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CAS
In the same journal
Robotics and Autonomous Systems
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 53 hits
ReferencesLink to record
Permanent link

Direct link