Object
Title: A variable structure observer for the control of robot manipulators
Contributor:
Korbicz, Józef - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. ; This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. ; The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 16, number 2 (2006) ; click here to follow the link
Language:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2006)
Last modified:
Sep 7, 2021
In our library since:
Aug 21, 2020
Number of object content hits:
29
All available object's versions:
https://www.zbc.uz.zgora.pl/publication/64089
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16, number 1 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16, number 2 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16, number 3 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16, number 4 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16, number 1 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
| Edition name | Date |
|---|---|
| A variable structure observer for the control of robot manipulators | Sep 7, 2021 |
