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Mathematics > Optimization and Control

arXiv:1812.06809 (math)
[Submitted on 14 Dec 2018 (v1), last revised 18 Dec 2018 (this version, v2)]

Title:A Survey on Output Feedback Control of Robot Manipulators with an Application to PHANToM 1.5A Haptic Device

Authors:Soulaimane Berkane
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Abstract:This paper is aimed at presenting a short survey of velocity-free control schemes for robot manipulators. A salient feature of this work is the implementation of this control schemes on a simulation model of the 3-DOF industrial PHANToM 1.5 A robot. For both the regulation and tracking problems, two classes of control algorithms without velocity measurements are considered, namely, those based on observer-controller combination and those based on approximate derivation through an n-order filter. The latter was shown to be more advantageous from different aspects. First the controllers based on approximate derivation are very intuitive and easy to implement in practice. Moreover, these algorithms are proved to be globally asymptotically stable, while the observer-based controllers have only local stability results. We have also considered some algorithms that are robust to load disturbances and to unmodeled dynamics. Simulation results have confirmed the theoretical advantages and drawbacks of each algorithm.
Comments: Internal Technical Report, 2014. arXiv admin note: text overlap with arXiv:1307.4659 by other authors
Subjects: Optimization and Control (math.OC)
Cite as: arXiv:1812.06809 [math.OC]
  (or arXiv:1812.06809v2 [math.OC] for this version)
  https://doi.org/10.48550/arXiv.1812.06809

Submission history

From: Soulaimane Berkane [view email]
[v1] Fri, 14 Dec 2018 15:42:42 UTC (3,571 KB)
[v2] Tue, 18 Dec 2018 09:39:02 UTC (3,571 KB)
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