Adaptive Output Feedback Control for Robot Manipulators using Linear Observer

S. Islam (Canada)


Adaptive control, Output feedback, Robotics, Perturbation.


In this paper, we consider an adaptive output feedback ap proach to the control of robot manipulators using a lin ear high-gain observer. First, we design a globally stable adaptive state feedback controller by assuming that all state variables are available for feedback. Then, we develop an adaptive output feedback control algorithm by employing a linear observer and show that the tracking performance under the state feedback design can be achieved under out put feedback design. The parameter projection and control saturation are used to establish semi-global uniform ulti mately boundedness stability property of all the signals in the closed-loop signals. This property has shown via us ing the singular perturbation method. Finally, simulation of a robot manipulator is used to demonstrate the proposed approach.

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