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

Institute of Electrical and Electronics Engineers

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 systems; Joints (Engineering); Manipulators (Mechanism); Robots; Industrial

Disciplines

Acoustics, Dynamics, and Controls | Mechanical Engineering | Robotics

Language

English

Comments

Conference held: San Antonio, TX, 15 Dec 1993-17 Dec 1993

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: 10.1109/CDC.1993.325175; ISBN: 0-7803-1298-8

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