Adaptive output feedback control of robot manipulators using high-gain observer

Abstract

An adaptive controller using only joint position measurement is presented for the tracking control of an n-link robot manipulator with unknown load. High-gain observers are used to estimate joint velocities. We saturate the control inputs outside a domain of interest and use an adaptive law with a parameter projection feature. Simulation results on a two-link manipulator illustrate that the proposed controller recovers the performance under state feedback.