On Tracking Control of Rigid-Joint Robots With Only Position Measurements

被引：13
|
作者：
Dirksz, Daniel A. [1 ]
Scherpen, Jacquelien M. A. [2 ]
机构：
[1] Univ Groningen, NL-9747 AG Groningen, Netherlands
[2] Univ Groningen, Fac Math & Nat Sci, NL-9747 AG Groningen, Netherlands
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2013年 / 21卷 / 04期
关键词：
Nonlinear control; output feedback; port-Hamiltonian systems; robot control; trajectory tracking; CONTROLLED HAMILTONIAN-SYSTEMS; DAMPING ASSIGNMENT; GLOBAL REGULATION; INTERCONNECTION; TRANSFORMATION; STABILIZATION; FEEDBACK;
D O I：
10.1109/TCST.2012.2204886
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this letter, we present tracking control with only position measurements for rigid-joint robots, by applying the canonical transformation theory for port-Hamiltonian systems. We show that besides giving the same results as presented in the literature for Euler-Lagrange systems, the canonical transformation theory also justifies a Coriolis matrix based on the desired velocities. Furthermore, we show how the initial conditions of the controller can be tuned in order to improve transient performance. Finally, we validate our results on a simple experimental setup.
引用
收藏
页码：1510 / 1513
页数：4
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