Tracking control of robots using only position measurements

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

doi:10.1109/CDC.1991.261480

Tracking control of robots using only position measurements

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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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 language	English
Title of host publication	Proceedings of the 30th IEEE Conference on Decision and Control 1991
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	1039-1040
Number of pages	2
ISBN (Print)	0-7803-0450-0
DOIs	https://doi.org/10.1109/CDC.1991.261480
Publication status	Published - 11 Dec 1991
Event	30th IEEE Conference on Decision and Control, CDC 1991 - Brighton, United Kingdom Duration: 11 Dec 1991 → 13 Dec 1991 Conference number: 30

Publication series

Name
Publisher	IEEE
Volume	1

Conference

Conference	30th IEEE Conference on Decision and Control, CDC 1991
Abbreviated title	CDC
Country/Territory	United Kingdom
City	Brighton
Period	11/12/91 → 13/12/91

Keywords

METIS-113538
IR-16653

Access to Document

10.1109/CDC.1991.261480

00261480

Cite this

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title = "Tracking control of robots using only position measurements",

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",

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AU - Berghuis, Harry

AU - Berghuis, H.

AU - Lohnberg, P.

AU - Nijmeijer, Henk

N1 - Conference code: 30

PY - 1991/12/11

Y1 - 1991/12/11

N2 - 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

AB - 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

KW - METIS-113538

KW - IR-16653

U2 - 10.1109/CDC.1991.261480

DO - 10.1109/CDC.1991.261480

M3 - Conference contribution

SN - 0-7803-0450-0

SP - 1039

EP - 1040

BT - Proceedings of the 30th IEEE Conference on Decision and Control 1991

PB - IEEE

CY - Piscataway, NJ, USA

T2 - 30th IEEE Conference on Decision and Control, CDC 1991

Y2 - 11 December 1991 through 13 December 1991

ER -

Tracking control of robots using only position measurements

Abstract

Publication series

Conference

Keywords

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Cite this