Noncertainty equivalent adaptive control of robot manipulators without velocity measurements

被引:10
作者
Homayounzade, Mohamadreza [1 ]
Keshmiri, Mehdi [1 ]
机构
[1] Isfahan Univ Technol, Dept Mech Engn, Esfahan, Iran
关键词
adaptive control; noncertainty equivalence principle; robot control; stability analysis; velocity estimation; REDESIGNED DCAL CONTROLLER; TRACKING CONTROL; PARAMETER-ESTIMATION; SPACE; INVARIANCE; IMMERSION; SYSTEMS;
D O I
10.1080/01691864.2014.899163
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper presents a noncertainty equivalent adaptive motion control scheme for robot manipulators in the absence of link velocity measurements. A new output feedback adaptation algorithm, based on the attractive manifold design approach, is developed. A proportional-integral adaptation is selected for the adaptive parameter estimator to strengthen the passivity of the system. In order to relieve velocity measurements, an observer is designed to estimate the velocities. The controller guarantees semiglobal asymptotic motion tracking and velocity estimation, as well as L-infinity and L-2 bounded parameter estimation error. The effectiveness of the proposed controller is verified by simulations for a two-link robot manipulator and a four-bar linkage. The results are further compared with the earlier certainty-equivalent adaptive partial and full state feedback controller to highlight potential closed-loop performance improvements.
引用
收藏
页码:983 / 996
页数:14
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