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

Javier Moreno, Salvador González

Research output: Contribution to conferencePaperResearch

3 Citations (Scopus)

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. © 2006 IEEE.
Original languageAmerican English
Pages2026-2031
Number of pages1822
StatePublished - 1 Dec 2006
Externally publishedYes
EventProceedings of the IEEE Conference on Decision and Control -
Duration: 8 Feb 2015 → …

Conference

ConferenceProceedings of the IEEE Conference on Decision and Control
Period8/02/15 → …

Fingerprint

robots
Manipulators
torque
manipulators
controllers
Torque
Robots
Feedback
Position measurement
Controllers
output
Actuators
actuators
Trajectories
trajectories

Cite this

Moreno, J., & González, S. (2006). An adaptive output feedback tracking controller for manipulators subject to constrained torques. 2026-2031. Paper presented at Proceedings of the IEEE Conference on Decision and Control, .
Moreno, Javier ; González, Salvador. / An adaptive output feedback tracking controller for manipulators subject to constrained torques. Paper presented at Proceedings of the IEEE Conference on Decision and Control, .1822 p.
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author = "Javier Moreno and Salvador Gonz{\'a}lez",
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month = "12",
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Moreno, J & González, S 2006, 'An adaptive output feedback tracking controller for manipulators subject to constrained torques' Paper presented at Proceedings of the IEEE Conference on Decision and Control, 8/02/15, pp. 2026-2031.

An adaptive output feedback tracking controller for manipulators subject to constrained torques. / Moreno, Javier; González, Salvador.

2006. 2026-2031 Paper presented at Proceedings of the IEEE Conference on Decision and Control, .

Research output: Contribution to conferencePaperResearch

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AU - González, Salvador

PY - 2006/12/1

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AB - 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. © 2006 IEEE.

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Moreno J, González S. An adaptive output feedback tracking controller for manipulators subject to constrained torques. 2006. Paper presented at Proceedings of the IEEE Conference on Decision and Control, .