Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements

2016 ◽  
Vol 46 (10) ◽  
pp. 2386-2398 ◽  
Author(s):  
Xinwu Liang ◽  
Hesheng Wang ◽  
Yun-Hui Liu ◽  
Weidong Chen ◽  
Guoqiang Hu ◽  
...  
Keyword(s):  
Tracking Control ◽  
Space Velocity ◽  
Robotic Manipulators ◽  
Task Space ◽  
Velocity Measurements ◽  
Cooperative Tracking

Adaptive Task-Space Tracking Control of Robots Without Task-Space- and Joint-Space-Velocity Measurements

2010 ◽  
Vol 26 (4) ◽  
pp. 733-742 ◽  
Author(s):  
Xinwu Liang ◽  
Xinhan Huang ◽  
Min Wang ◽  
Xiangjin Zeng
Keyword(s):  
Tracking Control ◽  
Space Velocity ◽  
Joint Space ◽  
Task Space ◽  
Velocity Measurements

A composite adaptive output feedback tracking controller for robotic manipulators

Robotica ◽  
1999 ◽  
Vol 17 (6) ◽  
pp. 591-600 ◽  
Author(s):  
E. Zergeroglu ◽  
W. Dixon ◽  
D. Haste ◽  
D. Dawson
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Prediction Error ◽  
Tracking Error ◽  
Robotic Manipulators ◽  
Parameter Estimate ◽  
Position Tracking ◽  
Linear Filter ◽  
Velocity Measurements ◽  
Feedback Tracking

This paper provides a solution to the composite adaptive output feedback tracking control problem for robotic manipulators. The proposed controller utilizes an update law that is a composite of a gradient update law driven by the link position tracking error and a least squares update law driven by the prediction error. In order to remove the controller's dependence on link velocity measurements, a linear filter and a new prediction error formulation are designed. The controller provides semi-global asymptotic link position tracking performance. Experimental results illustrate that the proposed controller provides improved link position tracking error transient performance and faster parameter estimate convergence in comparsion to the same controller using a gradient update law.

scholarly journals Networked Euler-Lagrangian Systems Synchronization under Time-Varying Communicating Delays

Information ◽  
2019 ◽  
Vol 10 (1) ◽  
pp. 14 ◽  
Author(s):  
Hongjun Wang ◽  
Zhuoqun Zhao ◽  
Tao Li
Keyword(s):  
Tracking Control ◽  
Synchronization Control ◽  
Lagrangian Systems ◽  
Time Varying ◽  
Task Space ◽  
Negative Effects ◽  
Tracking Errors ◽  
Adaptive Laws ◽  
Simulation Results ◽  
Cooperative Tracking

This paper investigates the problem of the task-space synchronization control for networked Euler-Lagrange systems. In the considered systems, there are time-varying delays existing in the networking links and every subsystem contains uncertainties in both kinematics and dynamics. By adding new time-varying coupling gains, the negative effects caused by time-varying delays are eliminated. Moreover, to address the difficulties of parametric calibration, an adaptively synchronous protocol and adaptive laws are designed to online estimate kinematics and dynamic uncertainties. Through a Lyapunov candidate and a Lyapunov-Krasovskii functional, the asymptotic convergences of tracking errors and synchronous errors are rigorously proved. The simulation results demonstrate the proposed protocol guaranteeing the cooperative tracking control of the uncalibrated networked Euler-Lagrange systems in the existence of time-varying delays.

Sign in / Sign up

Export Citation Format

Share Document