Semi-globally exponential and globally exponential tracking observer/controllers for robotic plants
type: CreativeWork
description: 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…
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 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…
author: Malagari, Srinivasulu
date published: 2011-07
date modified: 2026-07-24T06:06:11Z
provider: Wichita State University
publisher: Networked Digital Library of Theses and Dissertations
type: WebPage
source organization: Wichita State University