Sliding Observer and Adaptive Control of Robot Manipulators Using Joint Position Feedback
Proceedings of the 32nd IEEE Conference on Decision and Control
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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.
Adaptive control; Closed loop systems; Feedback; Position control; Robots; State estimation; Variable structure systems
Controls and Control Theory | Electrical and Computer Engineering | Electrical and Electronics | Engineering | Signal Processing | Systems and Communications
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Singh, S. N.,
Sliding Observer and Adaptive Control of Robot Manipulators Using Joint Position Feedback.
Proceedings of the 32nd IEEE Conference on Decision and Control, 1