Adaptive output feedback control of robot manipulators using high-gain observer

DOI10.1080/002071797223839zbMATH Open0881.93049OpenAlexW2106111936WikidataQ56422828 ScholiaQ56422828MaRDI QIDQ4358501FDOQ4358501

Authors: Kang Woong Lee, Hassan K. Khalil 

Publication date: 16 February 1998

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/002071797223839

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zbMATH Keywords

output feedbackhigh-gain observersadaptive controllerparameter projection\(n\)-link robot manipulatorjoint position measurement

Mathematics Subject Classification ID

Observability (93B07) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Cited In (18)

• Robot control and parameter estimation with only joint position measurements
• High-gain observers for nonlinear systems with trajectories close to unobservability
• Leader–follower synchronisation for networked Lagrangian systems with uncertainties: a learning approach
• A performance comparison of robust adaptive controllers: linear systems
• Design of a robust output feedback controller for robot manipulators using visual feedback
• Robust synchronisation tracking control of networked Euler–Lagrange systems using reference trajectory estimation based on virtual double-integrators
• An adaptive output feedback controller for robot arms: Stability and experiments
• Title not available (Why is that?)
• Adaptive output feedback tracking control of a nonholonomic mobile robot
• Iterative learning control with desired gravity compensation under saturation for a robotic machining manipulator
• Neural network robust \(H_\infty\) tracking control strategy for robot manipulators
• Adaptive neural output feedback control for uncertain robot manipulators with input saturation
• Dynamic neural network-based robust observers for uncertain nonlinear systems
• High-gain fractional disturbance observer control of uncertain dynamical systems
• A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems
• Robust control of robotic manipulators without velocity feedback
• Robust adaptive output feedback control of nonlinear systems without persistence of excitation
• Adaptive control of robot manipulators via velocity estimated feedback

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