Adaptive Task-Space Tracking Control of Robots Without Task-Space- and Joint-Space-Velocity Measurements

• Published in: IEEE transactions on robotics Vol. 26; no. 4; pp. 733 - 742
• Main Authors: Liang, X, Huang, X, Wang, M, Zeng, X
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.08.2010; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptative systems; Adaptive control; Applied sciences; asymptotically stable; Computer science; control theory; systems; Control system analysis; Control system synthesis; Control theory. Systems; Design engineering; Design optimization; Dynamics; Exact sciences and technology; Kinematics; Orbital robotics; Pollution measurement; Programmable control; Robot control; Robot kinematics; Robotics; Robots; Siding; Simulation; sliding observer; sliding patch; Stability analysis; System performance; task-space tracking control; Tracking control; Tracking control systems; Velocity; Velocity control; Velocity measurement; Space application; Sliding mode; sliding patch; Speed measurement; Control synthesis; Tracking task; sliding observer; Robot dynamics; Adaptive control; Robotics; Asymptotic stability; Robot kinematics; asymptotically stable; Observer; Instability; Speed control; System identification; task-space tracking control; Lyapunov function
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2010.2051594

The task-space tracking control of robots without the exact knowledge of kinematics and dynamics has been studied before with the assumption that the joint velocities are available for controller designs. However, the velocity measurements can be contaminated by noises, thereby resulting in poor system performance, or even leading to instability problems. Therefore, in this paper, we propose a new tracking controller for robots in the task space without the use of both task-space and joint-space-velocity measurements, under the condition that both the robot kinematics and dynamics are unknown. To overcome these incapacities without the velocity measurements, we introduce the well-known sliding-observer-design techniques to estimate the joint velocities for the purpose of our controller design. Our main concern, i.e., the stability analysis of our controller design incorporated with the siding observer, is presented with the help of Lyapunov-analysis methodology and the sliding-patch concept. Simulation results are presented to show the performance of our controller-observer designs.