Sliding Observer and Adaptive Control of Robot Manipulators Using Joint Position Feedback
Document Type
Conference Proceeding
Publication Date
12-15-1993
Publication Title
Proceedings of the 32nd IEEE Conference on Decision and Control
Publisher
IEEE
Volume
1
First page number:
138
Last page number:
141
Abstract
This paper considers control of rigid robot manipulators with revolute joints in the absence of knowledge of the robot model physical parameters using only joint angular position feedback. A sliding mode observer is constructed to estimate the joint angular velocities. An adaptive estimation and control law is derived such that in the closed-loop system, the tracking error and the state estimation error asymptotically converge to zero. The adaptive controller includes a dynamic system in the feedback path and requires no knowledge of the robot's dynamics in its derivation.
Keywords
Adaptive control; Closed loop systems; Feedback; Position control; Robots; State estimation; Variable structure systems
Disciplines
Controls and Control Theory | Electrical and Computer Engineering | Electrical and Electronics | Engineering | Signal Processing | Systems and Communications
Language
English
Permissions
Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.
Repository Citation
Singh, S. N.,
Yim, W.
(1993).
Sliding Observer and Adaptive Control of Robot Manipulators Using Joint Position Feedback.
Proceedings of the 32nd IEEE Conference on Decision and Control, 1
138-141.
IEEE.
