摘要
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.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | 54rd IEEE Conference on Decision and Control,CDC 2015 |
| 出版商 | Institute of Electrical and Electronics Engineers Inc. |
| 页 | 5438-5443 |
| 页数 | 6 |
| ISBN（电子版） | 9781479978861 |
| DOI | |
| 出版状态 | 已出版 - 8 2月 2015 |
| 活动 | 54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, 日本 期限: 15 12月 2015 → 18 12月 2015 |
出版系列
| 姓名 | Proceedings of the IEEE Conference on Decision and Control |
|---|---|
| 卷 | 54rd IEEE Conference on Decision and Control,CDC 2015 |
| ISSN（印刷版） | 0743-1546 |
| ISSN（电子版） | 2576-2370 |
会议
| 会议 | 54th IEEE Conference on Decision and Control, CDC 2015 |
|---|---|
| 国家/地区 | 日本 |
| 市 | Osaka |
| 时期 | 15/12/15 → 18/12/15 |
指纹
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Yang, Q., Fang, H., Chen, J., Jiang, Z., & Gu, X. (2015). Global output feedback control for multiple robotic manipulators. 在 54rd IEEE Conference on Decision and Control,CDC 2015 (页码 5438-5443). 文章 7403071 (Proceedings of the IEEE Conference on Decision and Control; 卷 54rd IEEE Conference on Decision and Control,CDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7403071