TY - GEN
T1 - Position funnel control for rigid revolute joint robotic manipulators with known inertia matrix
AU - Hackl, C. M.
AU - Kennel, R. M.
PY - 2012
Y1 - 2012
N2 - This paper presents funnel control for position control of rigid, revolute joint, n-degree-of-freedom (DOF) robotic manipulators with known inertia matrix. The multi-input multi-output (MIMO) funnel controller assures reference tracking with prescribed transient accuracy, i.e., for each joint, the absolute value of position and speed tracking error (difference between reference and actual value) is bounded by a prescribed, positive (possibly non-increasing) function of time (the funnel boundary), respectively.
AB - This paper presents funnel control for position control of rigid, revolute joint, n-degree-of-freedom (DOF) robotic manipulators with known inertia matrix. The multi-input multi-output (MIMO) funnel controller assures reference tracking with prescribed transient accuracy, i.e., for each joint, the absolute value of position and speed tracking error (difference between reference and actual value) is bounded by a prescribed, positive (possibly non-increasing) function of time (the funnel boundary), respectively.
UR - http://www.scopus.com/inward/record.url?scp=84866943866&partnerID=8YFLogxK
U2 - 10.1109/MED.2012.6265706
DO - 10.1109/MED.2012.6265706
M3 - Conference contribution
AN - SCOPUS:84866943866
SN - 9781467325318
T3 - 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
SP - 615
EP - 620
BT - 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
T2 - 2012 20th Mediterranean Conference on Control and Automation, MED 2012
Y2 - 3 July 2012 through 6 July 2012
ER -