@inproceedings{90de242b2df74a25b9b7abcd145edc30,
title = "Global output feedback control for multiple robotic manipulators",
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.",
keywords = "Manipulator dynamics, Observers, Output feedback, Robot kinematics, Symmetric matrices",
author = "Qingkai Yang and Hao Fang and Jie Chen and Zhongping Jiang and Xiaodan Gu",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 54th IEEE Conference on Decision and Control, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",
year = "2015",
month = feb,
day = "8",
doi = "10.1109/CDC.2015.7403071",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5438--5443",
booktitle = "54rd IEEE Conference on Decision and Control,CDC 2015",
address = "United States",
}