A High-Gain Scaling Technique for Adaptive Output Feedback Control of Feedforward Systems

2004 ◽  
Vol 49 (12) ◽  
pp. 2286-2292 ◽  
Author(s):  
P. Krishnamurthy ◽  
F. Khorrami
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
High Gain ◽  
Scaling Technique ◽  
Adaptive Output Feedback Control

Experimental results for output feedback adaptive robot control

Robotica ◽  
2006 ◽  
Vol 24 (6) ◽  
pp. 727-738 ◽  
Author(s):  
John M. Daly ◽  
Howard M. Schwartz
Keyword(s):  
Adaptive Control ◽  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
Robotic Manipulators ◽  
High Gain ◽  
Experimental Results ◽  
Position Information ◽  
High Gain Observer ◽  
Adaptive Output Feedback Control

This paper examines three methods of adaptive output feedback control for robotic manipulators. Implementing output feedback control allows use of only the position information, which can be measured quite accurately. Velocity and acceleration measurements can get corrupted by noise. A method proposed by K. W. Lee and H. K. Khalil [Adaptive output feedback control of robot manipulators using high-gain observer, Int. J. Control, 6, 869–886 (1997)] using a high-gain observer, one proposed by J. J. Craig, P. Hsu and S. S. Sastry [Adaptive control of mechanical manipulators, Int. J. Robot. Res., 6(2), 16–27 (1987)] with the addition of a linear observer that we propose, and a method proposed by R. Gourdeau and H. M. Schwartz [Adaptive control of robotic manipulators: Experimental results, Proceedings of the 1991 IEEE International Conference on Robotics and Automation (Apr. 1991) pp. 8–15] using an Extended Kalman Filter are examined. The methods are implemented in simulation and experimentally on a direct-drive robot. The performance of each of the algorithms is compared.

Sign in / Sign up

Export Citation Format

Share Document