Regressor-free robot joint position tracking with prescribed performance guarantees
2011 (English)In: ROBIO 2011: IEEE International Conference on Robotics and Biomimetics, 2011, 2312-2317 p.Conference paper (Refereed)
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.
motion control, regressor-free controller, prescribed performance, robotic arm
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-88927ScopusID: 2-s2.0-84860720768OAI: oai:DiVA.org:kth-88927DiVA: diva2:502573
2011 IEEE International Conference on Robotics and Biomimetics. Phuket, Thailand. Dec 7, 2011 - Dec 11, 2011
QC 201204102012-02-142012-02-142012-04-10Bibliographically approved