Title :
A reduced-order adaptive velocity observer for manipulator control
Author :
Erlic, M. ; Lu, W.-S.
Author_Institution :
Dept. of Electr. & Comput. Eng., Victoria Univ., BC, Canada
Abstract :
A reduced-order adaptive velocity observer is proposed for manipulator control. The observer combined with an adaptive controller yields locally asymptotically stable observed velocity errors and locally asymptotically stable position and velocity tracking errors. Implementation of the observer-controller on the PUMA-560 yields high quality tracking results
Keywords :
adaptive control; manipulators; position control; state estimation; velocity control; PUMA-560; adaptive controller; locally asymptotically stable observed velocity errors; manipulator control; reduced-order adaptive velocity observer; tracking errors; Adaptive control; Computer errors; Equations; Error correction; Manipulator dynamics; Observers; Programmable control; State estimation; Velocity control; Yield estimation;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292166
