An adaptive output feedback controller for robot arms: Stability and experiments

DOI10.1016/S0005-1098(01)00048-6zbMath0979.93074OpenAlexW2061875139WikidataQ126666689 ScholiaQ126666689MaRDI QIDQ5939324

Prabhakar R. Pagilla, Masayoshi Tomizuka

Publication date: 29 July 2001

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(01)00048-6

zbMATH Keywords

nonlinear observeradaptive controllerpartial state feedbackposition measurementsrobust armssemi-global stabilization

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Robot dynamics and control of rigid bodies (70E60)

Related Items (8)

Constrained rigid body stability and control ⋮ Adaptive neural output feedback control for uncertain robot manipulators with input saturation ⋮ Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement ⋮ Observer/Controller With Global Practical Stability for Tracking in Robots Without Velocity Measurement ⋮ A simple global asymptotic convergent observer for uncertain mechanical systems ⋮ Discussion on: ``Power flow control of a doubly-fed induction machine coupled to a flywheel ⋮ Non-certainty equivalent adaptive control for robot manipulator systems ⋮ Velocity observers for nonlinear mechanical systems subject to nonsmooth impacts

Cites Work

• Unnamed Item
• Adaptive motion control of rigid robots: A tutorial
• Adaptive control of robot manipulators via velocity estimated feedback
• Robust control of robots via linear estimated state feedback
• Robot control by using only joint position measurements

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