Globally exponential controller/observer for tracking in robots with DC motor dynamics and only link position measurement
by Srinivasulu Malagari; Brian J. Driessen
International Journal of Modelling, Identification and Control (IJMIC), Vol. 19, No. 1, 2013

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.

Online publication date: Sat, 27-Sep-2014

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