A Model-Free Controller for Guaranteed Prescribed Performance Tracking of Both Robot Joint Positions and Velocities
Artikel i vetenskaplig tidskrift, 2016

The problem of robot joint position and velocity tracking with prescribed performance guarantees is considered. The proposed controller is able to guarantee a prescribed transient and steady state behavior for the position and the velocity tracking errors without utilizing either the robot dynamic model or any approximation structures. Its performance is demonstrated and assessed via experiments with a KUKA LWR4+ arm.

Motion Control of Manipulators

Robust/Adaptive Control of Robotic Systems

Författare

Yiannis Karayiannidis

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Dimitrios Papageorgiou

Zoe Doulgeri

IEEE Robotics and Automation Letters

2377-3766 (ISSN)

Vol. 1 267-273

Ämneskategorier

Robotteknik och automation

DOI

10.1109/LRA.2016.2516245