An evaluation of adaptive robot control via velocity estimated feedback

摘要

This paper reviews and investigates the method proposed by Canudas De Wit and Fixot [1] for nonlinear output feedback adaptive control for robot manipulators. The theoretical concepts are analyzed and the critical assumptions that are made are clearly elucidated. Difficulties within the theoretical developments are noted and highlighted. Further difficulties associated with the design synthesis are illustrated. Simulation of a robot manipulator is used to demonstrate the theoretical difficulties and the practical issues.