NDLI: Output feedback controller for trajectory tracking of robot manipulators without velocity measurements nor observers

Content Provider	IET Digital Library
Author	Rascón, Raúl Valenzuela, Javier Moreno
Abstract	The main contribution of this study is the design of a trajectory tracking controller using output feedback applied to robot manipulators. The given controller does not need velocity measurements for its implementation and to achieve the tracking control objective. The structure of the proposed scheme consists of a proportional gain plus a dynamic gain resulting from a first-order system. The dynamic gain is not motivated by any observer nor estimator to approach the joint velocity. The dynamic linear controller has three tunable gain parameters for the one degrees-of-freedom (DOF) systems and two gain matrices for the nDOF lagrangian systems. These gains can be tuned following the conditions given in the stability analysis. An adaptive estimator of the viscous friction coefficient is added to robustify the closed-loop design; the analysis for the estimator is presented for one DOF systems and nDOF manipulators. The closed-loop stability analyses are developed by using Lyapunov's theory. The performance of the proposed control structure is illustrated and compared with other controllers such as the PID controller and the first-order sliding mode algorithm via numerical simulations. Moreover, real-time experiments are carried out in a two DOF SCARA robot manipulator.
Starting Page	1819
Ending Page	1827
Page Count	9
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 14, Sep (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/14
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2020.0037
Journal	IET Control Theory & Applications
Publisher Date	2020-04-18
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Adaptive Estimator Closed Loop System Closed-loop Design Closed-loop Stability Analyses Control System Analysis Control System Synthesis DOF SCARA Robot Manipulator DOF System Dynamic Gain Dynamic Linear Controller Feedback First-order System Friction Gain Matrix Lyapunov Method Manipulators Multivariable Control System NDOF Lagrangian System NDOF Manipulators Output Feedback Controller PID Controller Robot Manipulators Robust Control Self Adjusting Control System Stability Stability Analysis Stability in Control Theory Synthesis Method Three-term Control Tracking Tracking Control Trajectory Tracking Tunable Gain Parameter Variable Structure System Velocity Measurement Viscous Friction Coefficient
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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