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A composite adaptive output feedback tracking controller for robotic manipulators

Published online by Cambridge University Press:  01 November 1999

E. Zergeroglu
Affiliation:
Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA) email:ddawson@eng.clemson.edu
W. Dixon
Affiliation:
Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA) email:ddawson@eng.clemson.edu
D. Haste
Affiliation:
Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA) email:ddawson@eng.clemson.edu
D. Dawson
Affiliation:
Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA) email:ddawson@eng.clemson.edu

Abstract

This paper provides a solution to the composite adaptive output feedback tracking control problem for robotic manipulators. The proposed controller utilizes an update law that is a composite of a gradient update law driven by the link position tracking error and a least squares update law driven by the prediction error. In order to remove the controller's dependence on link velocity measurements, a linear filter and a new prediction error formulation are designed. The controller provides semi-global asymptotic link position tracking performance. Experimental results illustrate that the proposed controller provides improved link position tracking error transient performance and faster parameter estimate convergence in comparsion to the same controller using a gradient update law.

Type
Research Article
Copyright
© 1999 Cambridge University Press

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