Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping

Summary, in English

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.

• Författare: Francesco Calugi; Anders Robertsson; Rolf Johansson
• Avdelning/ar: Institutionen för reglerteknik
• Publiceringsår: 2002
• Språk: Engelska
• Sidor: 2091-2096
• Publikation/Tidskrift/Serie: IEEE/RSJ International Conference on Intelligent Robots and System, 2002
• Volym: 3
• Fulltext: - 356 kB; Download statistics
• Länkar: http://dx.doi.org/10.1109/IRDS.2002.1041575
• Dokumenttyp: Konferensbidrag
• Förlag: IEEE - Institute of Electrical and Electronics Engineers Inc.
• Ämne: Control Engineering
• Nyckelord: 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
• Status: Published
• Projekt: Sensor-based Integration and Task-level Programming, 1999-2002.; Lund Research Programme in Autonomous Robotics, 1998-2001; LU Robotics Laboratory
• ISBN/ISSN/Övrigt: ISBN: 0-7803-7398-7