On global output feedback tracking control of robot manipulators

Abstract

We revisit the global output feedback (OFB) tracking control problem for rigid-link robot manipulators subject to parametric uncertainty. Motivated by misunderstandings in the literature concerning our previous result, we propose a new global OFB adaptive controller which, in contrast to our previous work, eliminates the need for a post-stability analysis transformation to derive a velocity-independent control strategy. The structure of the new controller along with a new Lyapunov function are used to illustrate global asymptotic link position tracking. Experimental results are included to demonstrate the controller performance.