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Paper details
Number 3 - September 2013
Volume 23 - 2013
An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation
Antonio Yarza, Victor Santibanez, Javier Moreno-Valenzuela
Abstract
This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint
velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output
feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for
the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking
controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new
scheme has been experimentally implemented with the aim of confirming the theoretical results.
Keywords
adaptive control, robot control, nonlinear control, output feedback, Lyapunov UGAS stability