ADAPTIVE OUTPUT-FEEDBACK CONTROL OF ROBOT MANIPULATORS USING HIGH-GAIN OBSERVER

Authors
LEE KW KHALIL HK
Citation
Kw. Lee et Hk. Khalil, ADAPTIVE OUTPUT-FEEDBACK CONTROL OF ROBOT MANIPULATORS USING HIGH-GAIN OBSERVER, International Journal of Control, 67(6), 1997, pp. 869-886
Citations number
15
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
International Journal of Control → ACNP
ISSN journal
00207179
Volume
67
Issue
6
Year of publication
1997
Pages
869 - 886
Database
ISI
SICI code
0020-7179(1997)67:6<869:AOCORM>2.0.ZU;2-Z
Abstract
An adaptive controller using only joint position measurement is presen ted for the tracking control of an n-link robot manipulator with unkno wn load. High-gain observers are used to estimate joint velocities. We saturate the control inputs outside a domain of interest and use an a daptive law with a parameter projection feature. Simulation results on a two-link manipulator illustrate that the proposed controller recove rs the performance under state feedback.