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• W1571477663 abstract "This work is concerned with semi-globally and globally exponential observer/controllers for robotic plants.This dissertation work culminated in the following six [6] journal publications:1. Malagari, S. and Driessen, B.J., “Globally Exponential Continuous Controller/Observer for Position Trackingin Robot Manipulators with Hysteretic Joint Friction,” Robotica, Vol. 28, No. 5, 2010, pp. 759-763.2. Malagari, S. and Driessen, B.J., “Semi Globally Exponential Tracking Observer/Controller for Robots withJoint Hysteresis and Without Velocity Measurement,” Journal of Intelligent and Robotic Systems, 2011,Vol. 62, No. 1, pp. 29-58.3. Malagari, S. and Driessen, B.J., “Adjustable-Rate Semi-Globally Exponential Observer/Controller forTracking in Robots With Actuator Dynamics and Only Link Position Measurement,” Control and IntelligentSystems, Vol. 38, No. 1, 2010, pp. 249-262.4. Malagari, S. and Driessen, B.J., “Globally Exponential Controller/Observer for Tracking in Robots WithoutVelocity Measurement,” accepted to Asian Journal of Control, doi: 10.1002/asjc.297.5. Malagari, S. and Driessen, B., “Globally Asymptotic Adaptive Controller/Observer for Tracking in RobotsWithout Velocity Measurement,” under minor revision at the International Journal of Adaptive Control andSignal Processing.6. Malagari, S. and Driessen, B., “Globally Exponential Controller/Observer for Tracking in Robots with DCMotor Dynamics and Only Link Position Measurement,” under first-round review at the journal, Robotica.Paper 1 developed a controller and observer for estimation of unknown hysteretic joint friction for a multiple DOFrobot manipulator.The first four papers are already published. The fifth paper is under second-round reviews at theInternational Journal of Adaptive Control and Signal Processing, and the sixth paper is still under first round reviewat the journal Robotica. For a combination of logistical and proprietary reasons, the fifth and sixth journal paperswill not be included as chapters of this dissertation, but we will give some summary of them here in Chapter 1. Thefirst four journal papers constitute Chapters 2-5." @default.
• W1571477663 created "2016-06-24" @default.
• W1571477663 creator A5062878124 @default.
• W1571477663 date "2011-01-01" @default.
• W1571477663 modified "2023-09-24" @default.
• W1571477663 title "Semi-globally exponential and globally exponential tracking observer/controllers for robotic plants" @default.
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