Title :
An adaptive nonlinear output feedback controller for robot manipulators
Author :
Hajjir, Hosam ; Schwartz, Howard M.
Author_Institution :
Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, Ont., Canada
Abstract :
An adaptive controller is proposed for the tracking control of robotic manipulators that does not require the measurement of joint velocities. An observer is used to generate an estimate of the joint velocities and an observer-based identifier is used to update the parameter vector estimate. The controller is proven to guarantee uniform ultimate boundedness of the tracking error. Simulation results are given to show the effectiveness of the control algorithm and to illustrate the theoretical properties of the proposed method
Keywords :
adaptive control; feedback; manipulator dynamics; nonlinear control systems; observers; parameter estimation; tracking; velocity control; adaptive control; nonlinear control systems; observer; output feedback; parameter estimation; robot manipulators; tracking; velocity control; Adaptive control; Control systems; Equations; Manipulators; Output feedback; Parameter estimation; Programmable control; Robot control; Torque control; Velocity control;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786079
