OUTPUT FEEDBACK ADAPTIVE TRACKING CONTROL WITH Lp INPUT/OUTPUT STABILITY FOR ROBOT MANIPULATORS1
Chun-Qing Huang and Chun-Yi Su
Keywords
Adaptive, output feedback, robot manipulator, Lp input/output stable, uniformly ultimately bounded
Abstract
Output feedback adaptive tracking control has attracted considerable interest recently. However, transient performance of the resulting closed-loop system is not clear so far. In this paper, an output feedback scheme of robust adaptive is proposed, in which linear first-order filter is employed to estimate joint velocity. Asymptotic
stability is achieved when the true parameters locates within the estimated parameter region. In addition, the resulting adaptive system is Lp input/output stable without any persistency of excitation and its solution is uniformly ultimately bounded in the presence of disturbance as well as wrong estimate of parameter region. Simulation results show significant improvement of the proposed controller in robustness and transient performance over the output feedback adaptive controllers proposed by Lee and Kahlil.
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