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Regressor-free prescribed performance robot tracking
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. (Dept. of Electrical and Computer Eng.)
2013 (English)In: Robotica (Cambridge. Print), ISSN 0263-5747, E-ISSN 1469-8668Article in journal (Refereed) Published
Abstract [en]

Fast and robust tracking against unknown disturbances is required in many modern complex robotic structures and applications, for which knowledge of the full exact nonlinear system is unreasonable to assume. This paper proposes a regressor-free nonlinear controller of low complexity which ensures prescribed performance position error tracking subject to unknown endogenous and exogenous bounded dynamics assuming that joint position and velocity measurements are available. It is theoretically shown and demonstrated by a simulation study that the proposed controller can guarantee tracking of the desired joint position trajectory with a priori determined accuracy, overshoot and speed of response. Preliminary experimental results to a simplified system are promising for validating the controller to more complex structures.

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Keyword [en]
Tracking, Prescribed performance, Regressor-free controller, Robotic arm
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URN: urn:nbn:se:kth:diva-124600DOI: 10.1017/S0263574713000325ISI: 000326921500004OAI: diva2:637298
Swedish Foundation for Strategic Research

QC 20131206

Available from: 2013-07-17 Created: 2013-07-17 Last updated: 2013-12-06Bibliographically approved

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Karayiannidis, Yiannis
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Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CAS
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ReferencesLink to record
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