Tracking controller design for robot manipulators including motor dynamics

This research project contains three main aspects. First, an observer-based controller is considered for the flexible-joint robot including actuator dynamics, namely, the DC motor. Assuming the measurable signals are link and motor positions of the robot, a nonlinear observer is proposed which estim...

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Bibliographic Details
Main Author:	Yin, Guang.
Other Authors:	Song, Qing
Format:	Theses and Dissertations
Language:	English
Published:	2009
Subjects:	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Online Access:	http://hdl.handle.net/10356/19597
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Institution:	Nanyang Technological University
Language:	English

id	sg-ntu-dr.10356-19597
record_format	dspace
spelling	sg-ntu-dr.10356-195972023-07-04T15:28:43Z Tracking controller design for robot manipulators including motor dynamics Yin, Guang. Song, Qing School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics This research project contains three main aspects. First, an observer-based controller is considered for the flexible-joint robot including actuator dynamics, namely, the DC motor. Assuming the measurable signals are link and motor positions of the robot, a nonlinear observer is proposed which estimates all state variables asymptotically. Based on this observer, a dynamic output feedback controller is presented for the flexible-joint robot including motor dynamics, which guarantees asymptotic tracking of a desired trajectory. Simulation results are provided to illustrate the performance of the observer and controller. Master of Engineering 2009-12-14T06:17:10Z 2009-12-14T06:17:10Z 1997 1997 Thesis http://hdl.handle.net/10356/19597 en NANYANG TECHNOLOGICAL UNIVERSITY 98 p. application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
language	English
topic	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle	DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Yin, Guang. Tracking controller design for robot manipulators including motor dynamics
description	This research project contains three main aspects. First, an observer-based controller is considered for the flexible-joint robot including actuator dynamics, namely, the DC motor. Assuming the measurable signals are link and motor positions of the robot, a nonlinear observer is proposed which estimates all state variables asymptotically. Based on this observer, a dynamic output feedback controller is presented for the flexible-joint robot including motor dynamics, which guarantees asymptotic tracking of a desired trajectory. Simulation results are provided to illustrate the performance of the observer and controller.
author2	Song, Qing
author_facet	Song, Qing Yin, Guang.
format	Theses and Dissertations
author	Yin, Guang.
author_sort	Yin, Guang.
title	Tracking controller design for robot manipulators including motor dynamics
title_short	Tracking controller design for robot manipulators including motor dynamics
title_full	Tracking controller design for robot manipulators including motor dynamics
title_fullStr	Tracking controller design for robot manipulators including motor dynamics
title_full_unstemmed	Tracking controller design for robot manipulators including motor dynamics
title_sort	tracking controller design for robot manipulators including motor dynamics
publishDate	2009
url	http://hdl.handle.net/10356/19597
_version_	1772828912017997824

Tracking controller design for robot manipulators including motor dynamics

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