Globally exponential controller/observer for tracking in robots with DC motor dynamics and only link position measurement

摘要

We consider the tracking problem of a multi-degree of freedom rigid-link, revolutejointed robotic manipulator with actuator (DC brush motor) dynamics and only link position measurement. No velocities are measured; no currents are measured. The control voltage is discontinuous, however only at isolated times, not in sliding modes. We prove the time-isolation and the global-exponential convergence. This is the first global-exponential result for this plant; it is also the first global-asymptotic result for this plant.