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Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping

Calugi, Francesco; Robertsson, Anders LU and Johansson, Rolf LU (2002) In IEEE/RSJ International Conference on Intelligent Robots and System, 2002 3. p.2091-2096
Abstract
In this paper we present an observer-based adaptive control scheme for robot manipulators, for which we have both unmeasured velocity and uncertain parameters. Using the observer back-stepping method, a reduced-order adaptive velocity observer can be designed independently from the state-feedback controller, which uses damping terms to compensate the presence of the estimation error in the tracking error dynamics. The resulting closed-loop system is semiglobally asymptot-ically stable with respect to the estimation error and tracking errors. Furthermore a simulated example shows the performance of the control scheme applied to a two-link manipulator.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
uncertain parameters, robot manipulators, output feedback adaptive control, reduced-order adaptive velocity observer, observer-based adaptive control scheme, observer backstepping method, damping, estimation error, tracking errors two-link manipulator, closed-loop system, state-feedback controller, tracking error dynamics
in
IEEE/RSJ International Conference on Intelligent Robots and System, 2002
volume
3
pages
2091 - 2096
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • WOS:000179289100341
  • Scopus:0036450793
ISBN
0-7803-7398-7
DOI
10.1109/IRDS.2002.1041575
language
English
LU publication?
yes
id
025aa6cd-797e-46ca-8627-18dea488ac68 (old id 537734)
date added to LUP
2007-09-13 13:18:21
date last changed
2016-11-06 04:32:08
@misc{025aa6cd-797e-46ca-8627-18dea488ac68,
  abstract     = {In this paper we present an observer-based adaptive control scheme for robot manipulators, for which we have both unmeasured velocity and uncertain parameters. Using the observer back-stepping method, a reduced-order adaptive velocity observer can be designed independently from the state-feedback controller, which uses damping terms to compensate the presence of the estimation error in the tracking error dynamics. The resulting closed-loop system is semiglobally asymptot-ically stable with respect to the estimation error and tracking errors. Furthermore a simulated example shows the performance of the control scheme applied to a two-link manipulator.},
  author       = {Calugi, Francesco and Robertsson, Anders and Johansson, Rolf},
  isbn         = {0-7803-7398-7},
  keyword      = {uncertain parameters,robot manipulators,output feedback adaptive control,reduced-order adaptive velocity observer,observer-based adaptive control scheme,observer backstepping method,damping,estimation error,tracking errors    two-link manipulator,closed-loop system,state-feedback controller,tracking error dynamics},
  language     = {eng},
  pages        = {2091--2096},
  publisher    = {ARRAY(0x8c2a3c8)},
  series       = {IEEE/RSJ International Conference on Intelligent Robots and System, 2002},
  title        = {Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping},
  url          = {http://dx.doi.org/10.1109/IRDS.2002.1041575},
  volume       = {3},
  year         = {2002},
}