AN ADAPTIVE-OBSERVER FOR ROBOTS WITH PERSISTENT EXCITATION

An adaptive state observer for rigid link manipulators is proposed. Th e proposed adaptive state observer is based on parametrizing the robot dynamic model via the estimated state and parameters, thus yielding a nominal model plus two perturbation terms, one is linear and the othe r is quadratic in the state and parameter estimation errors. The updat e law for the adaptive observer is derived using the MKY lemma (Narend ra and Annaswamy 1989). Stability of the origin of the overall error s ystem is shown using the Gronwall-Belmann lemma (Khalil 1992) and a co nverse Lyapunov theorem (Khalil 1992). The proposed adaptive observer is tested through simulations.