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
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.