Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping

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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 languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and System, 2002
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages2091-2096
Volume3
ISBN (Print)0-7803-7398-7
DOIs
Publication statusPublished - 2002

Publication series

Name
Volume3

Subject classification (UKÄ)

  • Control Engineering

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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