Title

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.

Identifier

DOI: http://dx.doi.org/10.1109/CDC.1993.325175

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