Output Feedback Adaptive Control of Uncertainty Robot Using Observer Backstepping

摘要：

This paper presents an observer-based adaptive control scheme for robot system, for which we have both unmeasured velocity and uncertain parameters. Using the observer backstepping method, an adaptive velocity observer can be designed independently from the state-feedback controller. Furthermore we use integral action to compensate the estimation error terms, as they were disturbances, which can ensure the convergence of the tracking error to zero. Furthermore a simulated example shows the performance of the control scheme applied to a two-link manipulator.

作者: Jianxian Cai Xiaogang Ruan Xinyuan Li

作者单位: Beijing University of Technology Electronic Information and Control Engineering, Institute of Artificial Intelligence and Robotics

会议类型: 国际会议

会议名称: International Conference on Intelligent Computation Technology and Automation(2008 智能计算技术与自动化国际会议 ICICTA 2008)

会议地点: 长沙

会议语种:英文

页码: 404-408

在线出版日期: 2008-10-20（万方平台首次上网日期，不代表论文的发表时间）