An adaptive output feedback tracking controller for manipulators subject to constrained torques

Javier Moreno, Salvador González

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

In this paper is addressed the problem of trajectory tracking control of robot manipulators by output feedback, i.e., using only joint position measurements. The new approach is able to produce bounded torque input, which is important from the practical point of view because the robot actuators have limited power.

Original languageEnglish
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2026-2031
Number of pages6
ISBN (Print)1424401712, 9781424401710
DOIs
StatePublished - 2006
Externally publishedYes
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: 13 Dec 200615 Dec 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference45th IEEE Conference on Decision and Control 2006, CDC
Country/TerritoryUnited States
CitySan Diego, CA
Period13/12/0615/12/06

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