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 Tracking
in 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 with
Joint 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 for
Tracking in Robots With Actuator Dynamics and Only Link Position Measurement,” Control and Intelligent
Systems, Vol. 38, No. 1, 2010, pp. 249-262.
4. Malagari, S. and Driessen, B.J., “Globally Exponential Controller/Observer for Tracking in Robots Without
Velocity 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 Robots
Without Velocity Measurement,” under minor revision at the International Journal of Adaptive Control and
Signal Processing.
6. Malagari, S. and Driessen, B., “Globally Exponential Controller/Observer for Tracking in Robots with DC
Motor 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 DOF
robot manipulator.
The first four papers are already published. The fifth paper is under second-round reviews at the
International Journal of Adaptive Control and Signal Processing, and the sixth paper is still under first round review
at the journal Robotica. For a combination of logistical and proprietary reasons, the fifth and sixth journal papers
will not be included as chapters of this dissertation, but we will give some summary of them here in Chapter 1. The
first four journal papers constitute Chapters 2-5. / Thesis (Ph.D.)--Wichita State University, College of Engineering, Dept. of Mechanical Engineering
| Identifer | oai:union.ndltd.org:WICHITA/oai:soar.wichita.edu:10057/5059 |
| Date | 07 1900 |
| Creators | Malagari, Srinivasulu |
| Contributors | Driessen, Brian J. |
| Publisher | Wichita State University |
| Source Sets | Wichita State University |
| Language | en_US |
| Detected Language | English |
| Type | Dissertation |
| Format | ix, 112 p. |
| Rights | © Copyright 2011 by Srinivasulu Malagari. All rights reserved |
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