Homogeneous Output Feedback Tracking Control for Robot Manipulators

L.T. Aguilar (USA) and O. Castillo (Mexico)


Homogeneous control, Observer, Robot Manipulator.


In industrial applications, trajectory tracking control plays an important role in the motion of robot manipulators. In this paper, we present a homogeneous controller for track ing trajectories of robot manipulators assuming that only position information is available. A stability analysis of the closed-loop dynamic system in question was performed within the framework of Lyapunov functions. Performance issues related to homogeneous closed-loop systems are il lustrated in numerical simulations applied to a robot ma nipulator of two-degrees-of-freedom (2-DOF).

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