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

Authors:
Prabhakar R. Pagilla;Masayoshi Tomizuka
Affiliations:
School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, OK 74078-5016, USA;Department of Mechanical Engineering, University of California, Berkeley, CA 94720-1970, USA
Venue:
Automatica (Journal of IFAC)
Year:
2001

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Abstract

An adaptive output feedback controller for robot arms is developed in this paper. A nonlinear observer based on desired joint velocities and bounded joint position error is used to estimate joint velocities. Experimental results validate the effectiveness of the proposed adaptive output feedback controller.