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Globally exponential continuous controller/observer for position tracking in robot manipulators with hysteretic joint friction

Published online by Cambridge University Press:  28 August 2009

Srinivasulu Malagari  and
Brian J. Driessen
Srinivasulu Malagari
Affiliation:
Wichita State University, 1845 Fairmount St. Wichita, KS 67260, USA
Brian J. Driessen*
Affiliation:
Wichita State University, 1845 Fairmount St. Wichita, KS 67260, USA
*
*Corresponding author. E-mail: brian.driessen@wichita.edu
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Summary

In this work, we present a continuous observer and continuous controller for a multiple degree of freedom robot manipulator with hysteretic joint friction. The fictitious hysteresis state is of course unknown to the controller and must be estimated. The joint velocities are assumed measured here. For this considered plant, we propose and present a continuous observer/controller that estimates or observes the hysteresis state and drives the position tracking error to zero. We prove that the combined tracking error and observer error converges to zero globally exponentially.

Keywords

Hysteresis observerLuGre hysteretic frictionCoulomb frictionGlobally exponential trackingRobotActuatorsDrivesNonlinear controlsGlobal exponentialGlobally asymptotic tracking

Information

Type
Article
Information
Robotica , Volume 28 , Issue 5 , September 2010 , pp. 759 - 763
Copyright
Copyright © Cambridge University Press 2009

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