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Regressor-free prescribed performance robot tracking

Published online by Cambridge University Press:  29 May 2013

Y. Karayiannidis  and
Z. Doulgeri
Y. Karayiannidis*
Affiliation:
Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden
Z. Doulgeri
Affiliation:
Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Thessaloniki 54124, Greece
*
*Corresponding author. E-mail: yiankar@kth.se
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Summary

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Fast and robust tracking against unknown disturbances is required in many modern complex robotic structures and applications, for which knowledge of the full exact nonlinear system is unreasonable to assume. This paper proposes a regressor-free nonlinear controller of low complexity which ensures prescribed performance position error tracking subject to unknown endogenous and exogenous bounded dynamics assuming that joint position and velocity measurements are available. It is theoretically shown and demonstrated by a simulation study that the proposed controller can guarantee tracking of the desired joint position trajectory with a priori determined accuracy, overshoot and speed of response. Preliminary experimental results to a simplified system are promising for validating the controller to more complex structures.

Keywords

TrackingPrescribed performanceRegressor-free controllerRobotic arm

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 8 , December 2013 , pp. 1229 - 1238
Copyright
Copyright © Cambridge University Press 2013 

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