An approach to output feedback adaptive control for robot manipulators
International Journal of Robotics and Automation , Volume 23 - Issue 3 p. 168- 176
This paper presents a practical approach to output feedback adaptive control for robot manipulators. A novel approach is used to design the adaptive controller. Simulations and experimental results are used to demonstrate the effectiveness of the method. The approach to the controller design is based on ease of design and implementation and not on achieving theoretical stability results. Nevertheless, the origin is shown to be locally asymptotically stable.
|Adaptive control, Output feedback, Robot control|
|International Journal of Robotics and Automation|
|Organisation||Department of Systems and Computer Engineering|
Schwartz, H.M, & Daly, J.M. (J. M.). (2008). An approach to output feedback adaptive control for robot manipulators. International Journal of Robotics and Automation, 23(3), 168–176.