Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Regressor-free robot joint position 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
Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
2011 (English)In: ROBIO 2011: IEEE International Conference on Robotics and Biomimetics, 2011, 2312-2317 p.Conference paper, Published paper (Refereed)
Abstract [en]

Fast and robust tracking against unknown disturbancesis required in many modern complex robotic structuresand applications for which knowledge of the full exact nonlinearsystem is unreasonable to assume. This paper proposesa regressor-free nonlinear controller of low complexity whichensures prescribed performance position error tracking subjectto unknown endogenous and exogenous bounded dynamicsassuming that joint position and velocity measurements areavailable. It is theoretically shown and demonstrated by asimulation study that the proposed controller can guaranteetracking of the desired joint position trajectory with a prioridetermined accuracy, overshoot and speed of response. Preliminaryexperimental results to a simplified system are promisingfor validating the controller to more complex structures.

Place, publisher, year, edition, pages
2011. 2312-2317 p.
Keyword [en]
motion control, regressor-free controller, prescribed performance, robotic arm
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-88927Scopus ID: 2-s2.0-84860720768OAI: oai:DiVA.org:kth-88927DiVA: diva2:502573
Conference
2011 IEEE International Conference on Robotics and Biomimetics. Phuket, Thailand. Dec 7, 2011 - Dec 11, 2011
Note
QC 20120410Available from: 2012-02-14 Created: 2012-02-14 Last updated: 2012-04-10Bibliographically approved

Open Access in DiVA

No full text

Scopus

Authority records BETA

Karayiannidis, Yiannis

Search in DiVA

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

Search outside of DiVA

GoogleGoogle Scholar

urn-nbn

Altmetric score

urn-nbn
Total: 27 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf