Abstract
In this paper we present a nonlinear adaptive output feedback control algorithm. The algorithm is for model reference adaptive control of robotic manipulators. This algorithm uses model signals in the regressor and the linearization law and hence, does not require an observer. We show via various simulations that this algorithm has a region of convergence. We also show that the region of convergence can be increased if a normalizing factor is used in the adaptation law.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Craig, J.J., Hsu, P., Sastry, S.S.: Adaptive control of mechanical manipulators. The International Journal of Robotics Research 6(2), 16–27 (1987)
Slotine, J.-J.E., Li, W.: On the adaptive control of robot manipulators. The International Journal of Robotics Research 6(3), 49–59 (1987)
Hajjir, H., Schwartz, H.M.: An adaptive nonlinear output feedback controller for robot manipulators. In: Proceedings of the American Control Conference (June 1999)
Lee, K.W., Khalil, H.K.: Adaptive output feedback control of robot manipulators using high-gain observer. International Journal of Control 6, 869–886 (1997)
Arcak, G.M., Kokotovic, P.: Nonlinear Observers: A Circle Criterion Design D. In: Proc. of 38th Conf. on Decision and Control (December 1999)
Park, J., Chung, W.K.: Analytic Nonlinear H∞Inverse-Optimal Control for Euler-Lagrange System. IEEE Transactions on Robotics and Automation 16(6), 847–854 (2000)
Lee, G.-W., Cheng, F.-T.: Robust Control of Manipulators Using the Computed Torque Plus H∞Compensation Method. IEE Proceedings Control Theory Application 143(1), 64–72 (1996)
Wang, H., Wei, L., Mu, D., Li, Y.: Robust Adaptive Control of X-Y Position Table with Uncertainty. In: Proceedings of the 5th World Congress on Intelligent Control and Automation, pp. 3366–3369 (June 2004)
Lopez-Araujo, D., Zavala-Rio, A., Santibanez, V., Reyes, F.: Output-feedback adaptive control for the global regulation of robot manipulators with bounded inputs. International Journal of Control, Automation and Systems 11(1), 105–115 (2012)
Abdessameud, A., Khelfi, M.F.: A variable structure observer for the control of robot manipulators. International Journal of Applied Mathematics and Computer Science 16(2), 189–196 (2006)
Moreno-Valenzuela, J., Santibanez, V., Campa, R.: A class of OFT controllers for torque-saturated robot manipulators: Lyapunov stability and experimental evaluation. Journal of Intelligent & Robotic Systems 51(1), 65–88 (2008)
Moreno-Valenzuela, J., Santibanez, V., Campa, R.: On output feedback tracking control of robots manipulators with bounded torque input. International Journal of Control, Automation, and Systems 6(1), 76–85 (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Mohammadi Souran, D., Askari, M.H., Razagh Pour, N., Razeghi, B. (2014). Scrutiny of Nonlinear Adaptive Output Feedback Control for Robotic Manipulators. In: Thampi, S., Gelbukh, A., Mukhopadhyay, J. (eds) Advances in Signal Processing and Intelligent Recognition Systems. Advances in Intelligent Systems and Computing, vol 264. Springer, Cham. https://doi.org/10.1007/978-3-319-04960-1_46
Download citation
DOI: https://doi.org/10.1007/978-3-319-04960-1_46
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-04959-5
Online ISBN: 978-3-319-04960-1
eBook Packages: EngineeringEngineering (R0)