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feedback controllers

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Tracking Control of Robot Manipulators with Bounded Torque Inputs
W.E. Dixon, M.S. de Queiroz, F. Zhang, D.M. Dawson
Journal:

Robotica / Volume 17 / Issue 2 / March 1999

Published online by Cambridge University Press:

01 March 1999, pp. 121-129
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This paper examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback controller and an exact model knowledge, output feedback controller are designed to produce semi-global asymptotic link position tracking errors. Simulation results are provided to validate the theoretical concepts, and a comparative analysis demonstrates the benefits of the proposed controllers.