Tracking control of robots using only position measurements

Harry Berghuis, H. Berghuis, P. Lohnberg, Henk Nijmeijer

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    Abstract

    A tracking controller for robots that is based on position measurements only is presented. The controller consists of a computed torque like control part together with an observer part that determines an estimate of the velocity signal. A nice property of this observer is its linearity, which is in fact a consequence of the linearization of the computed torque control part in the ideal case. Under fairly general conditions on the controller and observer gains, exponential stability of the closed loop system is proven
    Original languageEnglish
    Title of host publicationProceedings of the 30th IEEE Conference on Decision and Control 1991
    Place of PublicationPiscataway, NJ, USA
    PublisherIEEE
    Pages1039-1040
    Number of pages2
    ISBN (Print)0-7803-0450-0
    DOIs
    Publication statusPublished - 11 Dec 1991
    Event30th IEEE Conference on Decision and Control, CDC 1991 - Brighton, United Kingdom
    Duration: 11 Dec 199113 Dec 1991
    Conference number: 30

    Publication series

    Name
    PublisherIEEE
    Volume1

    Conference

    Conference30th IEEE Conference on Decision and Control, CDC 1991
    Abbreviated titleCDC
    CountryUnited Kingdom
    CityBrighton
    Period11/12/9113/12/91

    Keywords

    • METIS-113538
    • IR-16653

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  • Cite this

    Berghuis, H., Berghuis, H., Lohnberg, P., & Nijmeijer, H. (1991). Tracking control of robots using only position measurements. In Proceedings of the 30th IEEE Conference on Decision and Control 1991 (pp. 1039-1040). Piscataway, NJ, USA: IEEE. https://doi.org/10.1109/CDC.1991.261480