Global Continuous Finite-Time Output Feedback Regulation of Robot Manipulators

A simple continuous output feedback proportional-derivative (PD) plus desired gravity compensation controller is proposed to solve the global finite-time regulation of robot manipulators with position measurements only. The global finite-time convergence is proved by using Lyapunov theory and finite...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 3383 - 3388
Main Authors Yuxin Su, Chunhong Zheng, Muller, P.C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Error correction
Gravity
Manipulator dynamics
Output feedback
Position measurement
Robot sensing systems
Robotics and automation
Sliding mode control
Stability
Velocity measurement
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543727

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Summary:A simple continuous output feedback proportional-derivative (PD) plus desired gravity compensation controller is proposed to solve the global finite-time regulation of robot manipulators with position measurements only. The global finite-time convergence is proved by using Lyapunov theory and finite-time stability theory. Simulations preformed on a two degrees-of-freedom (DOF) manipulator demonstrate the expected properties of the proposed approach.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543727