Adaptive output feedback control of robot manipulators using high-gain observer

被引：0
|
作者：
Lee, Kang Woong [1 ]
Khalil, Hassan K. [1 ]
机构：
[1] Hankuk Aviation Univ, Kyunggi-do, Korea, Republic of
来源：
| 1997年 / Taylor & Francis Ltd, London, United Kingdom卷 / 67期
关键词：
Adaptive control systems - Computer simulation - Feedback control - Observability - Position measurement;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
An adaptive controller using only joint position measurement is presented for the tracking control of an n-link robot manipulator with unknown load. High-gain observers are used to estimate joint velocities. We saturate the control inputs outside a domain of interest and use an adaptive law with a parameter projection feature. Simulation results on a two-link manipulator illustrate that the proposed controller recovers the performance under state feedback.
引用
收藏
相关论文
共 50 条
  • [31] Non-linear adaptive output feedback control of robot manipulators
    Daly, JM
    Schwartz, HM
    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 1687 - 1693
  • [32] Output feedback control using high-gain observers in the presence of measurement noise
    Ahrens, JH
    Khalil, HK
    PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2004, : 4114 - 4119
  • [33] High-gain observer-based output feedback control with sensor dynamic governed by parabolic PDE*
    Ahmed-Ali, Tarek
    Lamnabhi-Lagarrigue, Francoise
    Khalil, Hassan K.
    AUTOMATICA, 2023, 147
  • [34] High-gain Observer-based Output Feedback Control with Sensor Dynamic Governed by Parabolic PDE
    Ahmed-Ali, Tarek
    Lamnabhi-Lagarrigue, Francoise
    Khalil, Hassan K.
    IFAC PAPERSONLINE, 2020, 53 (02): : 5034 - 5038
  • [35] OUTPUT FEEDBACK ADAPTIVE TRACKING CONTROL WITH Lp INPUT/OUTPUT STABILITY FOR ROBOT MANIPULATORS
    Huang, Chun-Qing
    Su, Chun-Yi
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2014, 29 (02): : 202 - 214
  • [36] Adaptive fuzzy backstepping output feedback control for a class of MIMO time-delay nonlinear systems based on high-gain observer
    Yongming Li
    Chang’e Ren
    Shaocheng Tong
    Nonlinear Dynamics, 2012, 67 : 1175 - 1191
  • [37] Adaptive fuzzy backstepping output feedback control for a class of MIMO time-delay nonlinear systems based on high-gain observer
    Li, Yongming
    Ren, Chang'e
    Tong, Shaocheng
    NONLINEAR DYNAMICS, 2012, 67 (02) : 1175 - 1191
  • [38] A high-gain observer-based PD control for robot manipulator
    Heredia, JA
    Yu, W
    PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2000, : 2518 - 2522
  • [39] TRACKING CONTROLLERS FOR ROBOT MANIPULATORS - A HIGH-GAIN PERSPECTIVE
    JAYASURIYA, S
    HWANG, CN
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1988, 110 (01): : 39 - 45
  • [40] Adaptive Neural Output Feedback Control for Uncertain Robot Manipulators with Input Saturation
    Mei, Rong
    Yu, ChengJiang
    COMPLEXITY, 2017,
12345