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.
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