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

This paper presents a solution to the global adaptive partial state feedbac k control problem for rigid-link, flexible-joint (RLFJ) robots. The propose d tracking controller adapts for parametric uncertainty throughout the enti re mechanical system while only requiring link and actuator position measur ements. A nonlinear filter is employed to eliminate the need for link veloc ity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy i s utilized to illustrate global asymptotic link position tracking. An outpu t feedback controller that adapts for parametric uncertainty in the link dy namics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.