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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:
author
; and
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
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
LU Robotics Laboratory
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
2020-11-10 04:19:08
@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},
  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/ws/files/5914069/625688.pdf},
  doi          = {10.1109/IRDS.2002.1041575},
  volume       = {3},
  year         = {2002},
}