Output Feedback Adaptive Control of Uncertainty Robot Using Observer Backstepping

This paper presents an observer-based adaptive control scheme for robot system, for which we have both unmeasured velocity and uncertain parameters. Using the observer backstepping method, an adaptive velocity observer can be designed independently from the state-feedback controller. Furthermore we use integral action to compensate the estimation error terms, as they were disturbances, which can ensure the convergence of the tracking error to zero. Furthermore a simulated example shows the performance of the control scheme applied to a two-link manipulator.