Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots

This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking