An adaptive output feedback controller for robot arms: stability and experiments
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An adaptive output feedback controller for robot arms is developed in this paper. To estimate the joint velocities, a simple nonlinear observer based on the desired velocity and bounded position tracking error is proposed. The closed-loop system formed by the adaptive controller, observer and the robot system is shown to be semi-global asymptotically stable. Extensive experiments conducted on a two link robot manipulator confirm the effectiveness of the proposed controller - observer structure. To highlight the performance of the proposed scheme, it is compared via experiments with a well-known passivity based control algorithm. © 2001 Elsevier Science Ltd.
author list (cited authors)
Pagilla, P. R., & Tomizuka, M.