Globally asymptotic adaptive controller/observer for tracking in robots without velocity measurement

SUMMARY In this work, we present an adaptive observer/controller for a multiple degree of freedom robotic plant without velocity measurement and without knowledge of plant parameter values. For this considered plant, we propose and present an adaptive observer/controller that estimates or observes t...

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Veröffentlicht in:	International journal of adaptive control and signal processing 2012-05, Vol.26 (5), p.400-418
Hauptverfasser:	Malagari, Srinivasulu, Driessen, Brian J.
Format:	Artikel
Sprache:	eng
Schlagworte:	adaptive robot tracking Asymptotic properties Controllers Degrees of freedom Estimates global asymptotic globally asymptotic tracking (GAS) output feedback Robots Torque Tracking errors Velocity measurement velocity observer
Online-Zugang:	Volltext
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