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An adaptive output feedback controller for robot arms: stability and experiments

Authors
  • Pagilla, Prabhakar R.
  • Tomizuka, Masayoshi
Type
Published Article
Journal
Automatica
Publisher
Elsevier
Publication Date
Jan 01, 2001
Accepted Date
Jan 03, 2001
Volume
37
Issue
7
Pages
983–995
Identifiers
DOI: 10.1016/S0005-1098(01)00048-6
Source
Elsevier
Keywords
License
Unknown

Abstract

An adaptive output feedback controller for robot arms is developed in this paper. To estimate the joint velocities, a simple nonlinear observer based on the desired velocity and bounded position tracking error is proposed. The closed-loop system formed by the adaptive controller, observer and the robot system is shown to be semi-global asymptotically stable. Extensive experiments conducted on a two link robot manipulator confirm the effectiveness of the proposed controller–observer structure. To highlight the performance of the proposed scheme, it is compared via experiments with a well-known passivity based control algorithm.

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