A Multivariable Stochastic Tracking Controller for Robot Manipulators Without Joint Velocities

• Published in: IEEE transactions on automatic control Vol. 63; no. 8; pp. 2481 - 2495
• Main Authors: Saab, Samer S., Ghanem, Paul
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.08.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Compensation; Control stability; Control systems design; Coriolis force; Covariance; Error analysis; Filtering theory; Low pass filters; Manipulator dynamics; Manipulators; Multivariable control; Optical filters; Optimization; Proportional derivative; proportional derivative (PD) control; Robot arms; robot manipulator; Robots; Stability analysis; stochastic control; Tracking control; Tracking errors; Velocity; Velocity measurement

The objective of this paper is to design a discrete-time multivariable controller for a class of robot manipulators without using joint velocities while possessing tracking ability and yielding smooth torque signals. The structure of the control law is a proportional derivative (PD) controller plus...