Adaptive Task-Space Tracking Control of Robots Without Task-Space- and Joint-Space-Velocity Measurements
作者： Xinwu Liang , Xinhan Huang , Min Wang , Xiangjin Zeng
关键词:
摘要: The task-space tracking control of robots without the exact knowledge kinematics and dynamics has been studied before with assumption that joint velocities are available for controller designs. However, velocity measurements can be contaminated by noises, thereby resulting in poor system performance, or even leading to instability problems. Therefore, this paper, we propose a new task space use both joint-space-velocity measurements, under condition robot unknown. To overcome these incapacities introduce well-known sliding-observer-design techniques estimate purpose our design. Our main concern, i.e., stability analysis design incorporated siding observer, is presented help Lyapunov-analysis methodology sliding-patch concept. Simulation results show performance controller-observer
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