Adaptive Controller For Robot Arms

Abstract

The case of an adaptive controller based on output feedback is developed for a two link robot manipulator. A simple non-linear observer using the desired velocity and bounded position tracking error is proposed to estimate the joint velocities. The closed loop system compound by the adaptive controller, observer and the robot system is shown to be semi-global asymptotically stable. Numerous simulations conducted on a two-link robot manipulator model confirm the effectiveness of the proposed controller-observer structure. The performance of the proposed scheme is evident by comparing the simulation results with a well-known passivity based control algorithm.