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Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | IEEE/RSJ International Conference on Intelligent Robots and System, 2002 |
| Publisher | IEEE - Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2091-2096 |
| Volume | 3 |
| ISBN (Print) | 0-7803-7398-7 |
| DOIs | |
| Publication status | Published - 2002 |
Publication series
| Name | |
|---|---|
| Volume | 3 |
Subject classification (UKÄ)
- Control Engineering
Free keywords
- 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
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RobotLab LTH
Bagge Carlson, F., Johansson, R., Karlsson, M., Olofsson, B., Robertsson, A., Robertz, S., Haage, M., Malec, J., Nilsson, K., Nugues, P., Stenmark, M., Topp, E. A., Krueger, V., Åström, H., Mayr, M., Salt Ducaju, J., Nishimura, M., Wisbrant, J., Dürr, A., Mayr, M., Nugues, P., Klang, M., Klöckner, M., Nardi, L., Ahmad, F., Oxenstierna, J., Rizwan, M., Reichenbach, C., Bergström, J., Dell'Unto, N., Maunsbach, L., Åström, K., Blomdell, A., Soltesz, K., Magnusson, M., Fransson, P., Karayiannidis, Y., Johansson, A. T., Jia, Z., Laban, L., Wingqvist, B., Guberina, M., Jena, A., Westin, E., Frick, C., Pisarevskiy, A., Nilsson, A., Reitmann, S. & Hvarfner, C.
1993/01/01 → …
Project: Research
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Sensor-based Integration and Task-level Programming, 1999-2002.
1999/01/01 → 2002/12/31
Project: Research
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Equipment
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RobotLab LTH Infrastructure
Volker Krueger (Manager), Björn Olofsson (Manager), Yiannis Karayiannidis (Manager), Mathias Haage (Manager), Jacek Malec (Manager) & Elin A. Topp (Manager)
Faculty of Engineering, LTHInfrastructure