Global Trajectory Tracking Control of a Four-Link Robot Manipulator without Velocity Measurements

被引：0
|
作者：
Khusanov, Jumanazar [1 ]
Yusupova, Zilola [2 ]
Peregudova, Olga [3 ]
机构：
[1] Jizzakh Polytechn Inst, Jizzax, Uzbekistan
[2] Natl Univ, Fac Math, Tashkent, Uzbekistan
[3] U1STU, Ulyanovsk, Russia
来源：
2022 26TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2022年
关键词：
robot manipulator; trajectory tracking control; position feedback; dynamic filter; asymptotic stability; Lyapunov functions method;
D O I：
10.1109/ICSTCC55426.2022.9931803
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with the trajectory tracking control problem of a serial four-link manipulator in order to design a controller which globally stabilizes the desired motion of the robot without velocity measurements. We use the dynamic model of the manipulator described by Euler-Lagrange equations. The output position dynamic feedback controller has been proposed on the base of Lyapunov functions method. We exploit the periodicity property of the manipulator dynamic equations with respect to the rotational angles of the robot links. More precisely, we obtain the solution to the global trajectory tracking control problem in a cylindrical phase space. Global attractivity and uniform asymptotic stability properties of the closed-loop system are achieved. Simulation results are provided to show the quality of the controller.
引用
收藏
页码：289 / 293
页数：5
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