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
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.
Institute of Electrical and Electronics Engineers.
Comments
Conference held: San Antonio, TX, 15 Dec 1993-17 Dec 1993