Adaptive control of robot manipulators via velocity estimated feedback

An approach for designing robot controllers using state-space feedback is presented. The robot model parameters are assumed to be unknown and velocity measurements are assumed not to be available. This asymptotically stable control scheme combines an adaptive control law with a sliding observer and does not need additional assumptions on the variation of the inertia matrix eigenvalues. State observation and parameter adaptation are performed simultaneously. The adaptation law, the observer gains, and the control law are designed on the reduced order manifold which results from the invariance of the switching surface