Adaptive output feedback control of robot manipulators using high-gain observer
The authors describe an adaptive controller which uses only joint position measurement for the tracking of an \(n\)-link robot manipulator with an unknown load. High-gain observers are used to estimate joint velocities. Velocity measurements are avoided because they are often considerably contaminated by noise, and because velocity sensors are often omitted in robotic control to minimize cost and to reduce weight and volume. The authors' approach uses a parameter projection feature in the adaptation law. This feature is also used to show boundedness of all trajectories in the closed loop system. The authors demonstrate that their output feedback controller asymptotically recovers the performance achieved with a fullstate feedback controller.
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