An adaptive controller is proposed, for the tracking control of robotic manipulators that does not require the measurement of joint velocities. An observer is used to generate an estimate of the joint velocities and an observer-based identifier is used to update the parameter vector estimate. The controller is proven to guarantee uniform ultimate boundedness of the tracking error. Simulation results are given to show the effectiveness of the control algorithm and to illustrate the theoretical properties of the proposed methods.

Proceedings of the 1999 American Control Conference (99ACC)
Department of Systems and Computer Engineering

Hajjir, Hosam (Hosam), & Schwartz, H.M. (1999). Adaptive nonlinear output feedback controller for robot manipulators. In Proceedings of the American Control Conference (pp. 1520–1524).