Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping
Calugi, Francesco ; Robertsson, Anders LU and Johansson, Rolf LU
(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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/537734
- author
- Calugi, Francesco
; Robertsson, Anders
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2002
- 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
- host publication
- 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
- project
- Sensor-based Integration and Task-level Programming, 1999-2002.
- Lund Research Programme in Autonomous Robotics, 1998-2001
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 025aa6cd-797e-46ca-8627-18dea488ac68 (old id 537734)
- date added to LUP
- 2016-04-04 12:02:34
- date last changed
- 2023-03-30 01:49:22
@inproceedings{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}},
booktitle = {{IEEE/RSJ International Conference on Intelligent Robots and System, 2002}},
isbn = {{0-7803-7398-7}},
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}},
language = {{eng}},
pages = {{2091--2096}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping}},
url = {{https://lup.lub.lu.se/search/files/5914069/625688.pdf}},
doi = {{10.1109/IRDS.2002.1041575}},
volume = {{3}},
year = {{2002}},
}