Title: Globally exponential controller/observer for tracking in robots with DC motor dynamics and only link position measurement

Authors: Srinivasulu Malagari; Brian J. Driessen

Addresses: Mechanical Engineering Department, Wichita State University, Wichita, KS 67260, USA ' Mechanical Engineering Department, Wichita State University, Wichita, KS 67260, USA

Abstract: We consider the tracking problem of a multi-degree of freedom rigid-link, revolute-jointed robotic manipulator with actuator (DC brush motor) dynamics and only link position measurement. No velocities are measured; no currents are measured. The control voltage is discontinuous, however only at isolated times, not in sliding modes. We prove the time-isolation and the global-exponential convergence. This is the first global-exponential result for this plant; it is also the first global-asymptotic result for this plant.

Keywords: velocity observer; globally exponential tracking; GES; globally asymptotic tracking; GAS; robot tracking; output feedback; rigid link electrically driven; RLED; DC motors; actuator dynamics; link position measurement; robot control.

DOI: 10.1504/IJMIC.2013.054032

International Journal of Modelling, Identification and Control, 2013 Vol.19 No.1, pp.1 - 12

Published online: 27 Sep 2014 *

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