Adaptive control of robot manipulators via velocity estimated feedback

✍ Scribed by De Wit, C.C.; Fixot, N.

• Book ID: 120878423
• Publisher: IEEE
• Year: 1992
• Tongue: English
• Weight: 400 KB
• Volume: 37
• Category: Article
• ISSN: 0018-9286
• DOI: 10.1109/9.151115

✦ Synopsis

Adaptive controllers have been proposed as a means of counteracting robot model parameter inaccuracies under the assumption of full state measurements (position and velocities); see [111 for a survey of adaptive methods. Since velocity measurements are often contaminated by high levels of noise constraining the system performance, nonlinear controller integrating nonlinear observers have been studied and have proved to be locally exponentially stable 121, [41 provided that the model parameters are exactly known. Extensions to the case of model parameter uncertainties have been studied in [SI

where the same type of local exponentially stability is obtained but additional assumptions on the variation of the inertia matrix eigenvalues are needed. This note proposes a control scheme which combines an adaptive control law with a sliding observer and needs nonadditional assumptions on the variation of the inertia matrix eigenvalues. An asymptotically stable closed-loop system results from this combination.