Globally bounded tracking controllers for rigid robot systems

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Abstract

In this note we consider tracking control of rigid robot systems under input constraints. Using the combination of two controllers we are able to obtain globally asymptotically stable closed-loop error-dynamics while keeping the applied actuator torques within in advance specified bounds. This idea is also exploited successfully in case only position measurements are available, or when parameter uncertainties call for an adaptive control scheme.
Original languageEnglish
Title of host publicationProceedings of the 4th European Control Conference, Belgium, Brussels
Place of PublicationWaterloo
PublisherBelware
Number of pages6
Publication statusPublished - 1997

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