Output-feedback Control for Finite-Time Trajectory-Tracking in Robot Manipulators

Resumen: In this paper we propose an output-feedback scheme for the trajectory-tracking in finite-time of robot manipulators. The proposed continuous dynamic controller ensures global uniform finite-time stabilization of the tracking error if the reference to follow varies slowly over time. The stability conclusions are established designing novel strict Lyapunov functions.

¿Cómo citar?

Emmanuel Cruz-Zavala, Emmanuel Nuño, Carlos Aldana & Jaime A Moreno. Output-feedback Control for Finite-Time Trajectory-Tracking in Robot Manipulators. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

Finite-time trajectory-tracking, Output-feedback Control, Robot Manipulators, Lyapunov Methods

• Aguiñaga Ruiz, E., Santibáñez, V., Zavala-Río, A., y Reyes, F. (2009). Global trajectory tracking through static feedback for robot manipulators with bounded inputs. IEEE Trans Control Syst Tech, 17(4), 126–133.
• Bernstein, D.S. (2009). Matrix Mathematics: theory, facts, y formulas. Princeton University Press.
• Cruz-Zavala, E., Nuño, E., y Moreno, J.A. (2017). Finitetime regulation of fully-actuated Euler-Lagrange systems without velocity measurements. In Proc. IEEE 56th Conf. Decision y Control, 6750–6755. Melbourne, Australia.
• Feng, W. y Postlethwaite, I. (1993). A simple robust control scheme for robot manipulators with only joint position measurements. The Int. J. Robot. Res., 12(5), 490–496.
• Feng, Y., Yu, X., y Man, Z. (2002). Non-singular terminal sliding mode control of rigid manipulators. Automatica, 38(12), 2159–2167.
• Hong, Y., Xu, Y., y Huang, J. (2002). Finite-time control for robot manipulators. Systems & Control Letters, 46, 243–253.
• Kawamura, S., Miyazaki, F., y Arimoto, S. (1988). Is a local linear PD feedback control law effective for trajectory tracking of robot motion? In IEEE Conf Robotics y Automation, 1335–1340. Philadelphia, PA.
• Kelly, R. y Salgado, R. (1994). PD control with computed feedforward of robot manipulators: A design procedure. IEEE Trans Rob Auto, 10(4), 566–571.
• Kelly, R., Santibáñez, V., y Loría, A. (2005). Control of Robot Manipulators in Joint Space. Springer-Verlag. Lor´ıa, A. (2016). Observers are unnecessary for outputfeedback control of Lagrangian systems. IEEE Trans. Autom. Control, 61(4), 905–920.
• Moulay, E. y Perruquetti, W. (2008). Finite time stability conditions for non-autonomous continuous systems. Int. J. Control, 81(5), 797–803.
• Paden, B. y Panja, R. (1988). Global asymptotically stable PD+ controller for robot manipulator. Int. Jour. of Control, 47, 1697–1712.
• Romero, J., Ortega, R., y Sarras, I. (2015). A globally exponentially stable tracking controller for mechanical systems using position feedback. IEEE Trans. Autom. Control, 60(3), 818–823.
• Santibáñez, V. y Kelly, R. (2001). Global asymptotic stability of bounded output feedback tracking control for robot manipulators. In Proc. 40th IEEE Conf. Decision y Control, 1378–1379. Orlyo, FL.
• Santibáñez, V. y Kelly, R. (1997). Strict Lyapunov functions for control of robot manipulators. Automatica, 33(4), 126–133.
• Slotine, J. y Li, W. (2001). Adaptive manipulator control: a case study. IEEE Trans Autom Control, 33(11), 995– 1003.
• Spong, M. y Ortega, R. (1990). On adaptive inverse dynamics control of rigid robots. IEEE Trans Autom Control, 35(1), 92–95.
• Tang, Y. (1998). Terminal sliding mode control for rigid robots. Automatica, 34, 51–56.
• Venkataraman, S. y Gulati, S. (1993). Terminal slider control of robot systems. Journal of Intelligent y Robotic Systems, 5, 31–55.
• Wen, J.T. (1990). A unified perspective on robot control: the energy Lyapunov function approach. Int. J. Adaptive Control Sig. Process, 4, 487–500.
• Yu, S.H., Yu, X.H., Shirinzadeh, B., y Man, Z. (2005). Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica, 41(11), 1957– 1964.
• Zamora-Gómez, G.I., Zavala-Río, A., y López-Araujo, D.J. (2017). Observer-less output-feedback global continuous control for the finite-time y exponential stabilization of mechanical systems with constrained inputs. Eur. J. Control, 36, 30–42.
• Zamora-Gómez, G., Zavala-Río, A., López-Araujo, D., Cruz-Zavala, E., y Nuño., E. (2020). Continuous control for fully-damped mechanical systems with input constraints: Finite-time y exponential tracking. IEEE Trans Autom Control, 65(2), 882–889