Global adaptive output feedback tracking control of robot manipulators

摘要

This paper presents a solution to the problem of global, output feedback tracking control of uncertain robot manipulators. Specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking errors while compensating for parametric uncertainty and requiring only link position measurements. Simulation results are provided to illustrate the controller performance.