An adaptive output feedback controller for robot arms: stability and experiments Academic Article

abstract

• 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.

authors

• Pagilla, Prabhakar

published proceedings

• AUTOMATICA

author list (cited authors)

• Pagilla, P. R., & Tomizuka, M.

citation count

• 51

complete list of authors

• Pagilla, PR||Tomizuka, M

publication date

• July 2001

publisher

• Elsevier  Publisher

published in

• Automatica  Journal

keywords

• Adaptive Control
• Lyapunov Stability
• Observers
• Robot Control

Digital Object Identifier (DOI)

• 10.1016/S0005-1098(01)00048-6

start page

• 983

end page

• 995

volume

• 37

issue

• 7

URL

• http://dx.doi.org/10.1016/s0005-1098(01)00048-6