In this paper we present an observer-based adaptive control scheme for robot manipulators, for which we have both unmeasured velocity and uncertain parameters. Using the observer back-stepping method, a reduced-order adaptive velocity observer can be designed independently from the state-feedback controller, which uses damping terms to compensate the presence of the estimation error in the tracking error dynamics. The resulting closed-loop system is semiglobally asymptot-ically stable with respect to the estimation error and tracking errors. Furthermore a simulated example shows the performance of the control scheme applied to a two-link manipulator.
Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping
2002-01-01
Conference paper
Electronic Resource
English
Control Engineering , uncertain parameters , robot manipulators , output feedback adaptive control , reduced-order adaptive velocity observer , observer-based adaptive control scheme , observer backstepping method , damping , estimation error , tracking errors two-link manipulator , closed-loop system , state-feedback controller , tracking error dynamics
DDC: | 629 |
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