Global output feedback control for multiple robotic manipulators

Qingkai Yang, Hao Fang, Jie Chen, Zhongping Jiang, Xiaodan Gu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper investigates the global output feedback tracking control problem for multiple robotic manipulators. Firstly, the global nonsingular coordinate transformation to obtain a partially linear system is provided based on the solution of a set of partial differential equations. Then, a new class of velocity observers is designed to estimate the unmeasurable velocities for each system. By employing the estimators, we propose distributed control laws such that the UGAS (uniform global asymptotic stability) is achieved. The theoretical results are further validated by numerical simulations.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5438-5443
Number of pages6
ISBN (Electronic)9781479978861
DOIs
StatePublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

Keywords

  • Manipulator dynamics
  • Observers
  • Output feedback
  • Robot kinematics
  • Symmetric matrices

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Yang, Q., Fang, H., Chen, J., Jiang, Z., & Gu, X. (2015). Global output feedback control for multiple robotic manipulators. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 5438-5443). [7403071] (Proceedings of the IEEE Conference on Decision and Control; Vol. 54rd IEEE Conference on Decision and Control,CDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7403071