Abstract
All the position tracking controllers presented in Chapter 3 required fullstate feedback (FSFB). That is, the control implementation requires the measurement of the position and velocity of the mechanical system. Since the cost of implementing a FSFB controller for achieving position tracking would typically include the cost of motion sensors, this chapter addresses the problem of position tracking under the constraint of minimizing the sensor count (i.e., elimination of velocity measurements). Hence, we are motivated to investigate means of constructing velocity signal surrogates for use in closed-loop, position tracking control strategies, i.e., output feedback (OFB) controllers. A standard approach for removing velocity measurements is to apply the so-called backwards difference algorithm to the position measurements. Even though this method of eliminating velocity may provide reasonable performance, the use of this discrete-time velocity approximation is not satisfying from a theoretical viewpoint since the dynamics of the backwards difference algorithm are normally not included during the closed-loop stability analysis.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
S. Arimoto, V. Parra-Vega, and T. Naniwa, A Class of Linear Velocity Observers for Nonlinear Mechanical Systems, Asian Control Conference, pp. 633–636, Tokyo, Japan, 1994.
H. Berghuis and H. Nijmeijer, Observer Design in the Tracking Control Problem for Robots, Proceedings of the IFAC Symposium NOLCOS, pp. 588–593, Bordeaux, France, June 1992.
H. Berghuis and H. Nijmeijer, Robust Control of Robots via Linear Estimated State Feedback, IEEE Transactions on Automatic Control, Vol. 39, No. 10, pp. 740–754, Dec. 1993.
H. Berghuis and H. Nijmeijer, A Passivity Approach to Controller-Observer Design for Robots, IEEE Transactions on Robotics and Automation, Vol. 9, No. 6, pp. 740–754, Dec. 1993.
T. Burg, D. Dawson, J. Hu, and M. de Queiroz, An Adaptive Partial State Feedback Controller for RLED Robot Manipulators, IEEE Transactions on Automatic Control, Vol. 41, No. 7, pp. 1024–1031, July 1996.
T. Burg, D. Dawson, and P. Vedagarbha, A Redesigned DCAL Controller without Velocity Measurements: Theory and Demonstration, Robotica, Vol. 15, pp. 337–346, 1997.
I. Burkov, Asymptotic Stabilization of Nonlinear Lagrangian Systems without Measuring Velocities, International Symposium on Active Control in Mechanical Engineering, Lyon, France, 1993.
I. V. Burkov, Mechanical System Stabilization via Differential Observer, IFAC Conference on System Structure and Control, pp. 532–535, Nantes, France, 1995.
C. Canudas de Wit, K. Aström, and N. Fixot, Computed Torque Control via a Nonlinear Observer, International Journal of Adaptive Control and Signal Processing, Vol. 4, No. 6, pp. 443–452, 1990.
C. Canudas de Wit and J. Slotine, Sliding Observers for Robot Manipulators, Automatica, Vol. 27, No. 5, pp. 859–864, May 1991.
C. Canudas de Wit and N. Fixot, Robot Control Via Robust Estimated State Feedback, IEEE Transactions on Automatic Control, Vol. 36, No. 12, pp. 1497–1501, Dec. 1991.
C. Canudas de Wit, N. Fixot, and K. Aström, Trajectory Tracking in Robot Manipulators via Nonlinear Estimated State Feedback, IEEE Transactions on Robotics and Automation, Vol. 8, No. 1, pp. 138–144, Feb. 1992.
C. Canudas de Wit and N. Fixot, Adaptive Control of Robot Manipulators via Velocity Estimated Feedback, IEEE Transactions on Automatic Control, Vol. 37, No. 8, pp. 1234–1237, Aug. 1992.
R. Colbaugh, E. Barany, and K. Glass, Global Stabilization of Uncertain Manipulators Using Bounded Controls, Proceedings of the American Control Conference, pp. 86–91, Albuquerque, NM, June 1997.
Integrated Motion, Inc., Direct Drive Manipulator Research and Development Package Operations Manual, Berkeley, CA, 1992.
M. Erlic and W. Lu, Manipulator Control with an Exponentially Stable Velocity Observer, Proceedings of the American Control Conference, pp. 1241–1242, Chicago, IL, June 1992.
M. Erlic and W. Lu, A Reduced-Order Adaptive Velocity Observer for Manipulator Control, Proceedings of the IEEE Conference on Robotics and Automation, pp. 328–333, Atlanta, GA, May 1993.
L. Hsu and F. Lizarralde, Variable Structure Adaptive Tracking Control of Robot Manipulators without Joint Velocity Measurement, IF AC World Congress, pp. 145–148, Sydney, Australia, July 1993.
T. Kailaith, Linear Systems, Englewood Cliffs, NJ: Prentice Hall, 1980.
K. Kaneko and R. Horowitz, Repetitive and Adaptive Control of Robot Manipulators with Velocity Estimation, IEEE Transactions on Robotics and Automation, Vol. 13, No. 2, pp. 204–217, Apr. 1997.
R. Kelly, A Simple Setpoint Controller by Using Only Position Measurements, Preprint IFAC World Congress, pp. 289–293, Sydney, Australia, July 1993.
M. Krstić, I. Kanellakopoulos, and P. Kokotović, Nonlinear and Adaptive Control Design, New York: John Wiley & Sons, Inc., 1995.
F. L. Lewis, C. T. Abdallah, and D. M. Dawson, Control of Robot Manipulators, New York, NY: Macmillan Publishing Co., 1993.
S. Y. Lim, D. M. Dawson, and K. Anderson, Re-examining the Nicosia-Tomei Robot Observer-Controller from a Backstepping Perspective, IEEE Transactions on Control Systems Technology, Vol. 4, No. 3, pp. 304–310, May 1996.
S. Y. Lim, Partial State Feedback Link Position Tracking Controllers for Robotic Manipulator Systems, Ph. D. Dissertation, Department of Electrical and Computer Engineering, Clemson University, Aug. 1994.
A. Loria, Global Tracking Control of One Degree of Freedom Euler-Lagrange Systems Without Velocity Measurements, European Journal of Control, Vol. 2, No. 2, pp.144–151, June 1996.
S. Nicosia and P. Tomei, Robot Control by Using Only Joint Position Measurements, IEEE Transactions on Automatic Control, Vol. 35, No. 9, pp. 1058–1061, Sept. 1990.
S. Nicosia, A. Tornambe, and P. Valigi, Experimental Results in State Estimation of Industrial Robots, Proceedings of the IEEE Conference on Decision and Control, pp. 360–365, Honolulu, HI, Dec. 1990.
R. Ortega, A. Loria, and R. Kelly, A Semiglobally Stable Output Feedback PI2D Regulator for Robot Manipulators, IEEE Transactions on Automatic Control, Vol. 40, No. 8, pp. 1432–1436, Aug. 1995.
Z. Qu, D. Dawson, J. Dorsey, and J. Duffle, Robust Estimation and Control of Robotic Manipulators, Robotica, Vol. 13, pp. 223–231, 1995.
P. Vedagarbha, T. Burg, J. Hu, and D. Dawson, Development and Demonstration of a New Class of Adaptive Partial State Feedback Controllers for Electric Machines, Mechatronics — An International Journal, Vol. 6, No. 6, pp. 691–727, 1996.
J. Yuan and Y. Stepanenko, Robust Control of Robotic Manipulators without Velocity Measurements, International Journal of Robust and Nonlinear Control, Vol. 1, pp. 203–213, 1991.
F. Zhang, D. M. Dawson, M. S. de Queiroz, and W. Dixon, Global Adaptive Output Feedback Tracking Control of Robot Manipulators, Proceedings of the IEEE Conference on Decision and Control, pp. 3634–3639, San Diego, CA, Dec. 1997.
W. Zhu, H. Chen, and Z. Zhang, A Variable Structure Robot Control Algorithm with an Observer, IEEE Transactions on Robotics and Automation, Vol. 8, No. 4, pp. 486–492, Aug. 1992.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer Science+Business Media New York
About this chapter
Cite this chapter
de Queiroz, M.S., Dawson, D.M., Nagarkatti, S.P., Zhang, F. (2000). Output Feedback Tracking Controllers. In: Lyapunov-Based Control of Mechanical Systems. Control Engineering. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4612-1352-9_4
Download citation
DOI: https://doi.org/10.1007/978-1-4612-1352-9_4
Publisher Name: Birkhäuser, Boston, MA
Print ISBN: 978-1-4612-7108-6
Online ISBN: 978-1-4612-1352-9
eBook Packages: Springer Book Archive