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backstepping strategy

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Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots
W.E. Dixon, E. Zergeroglu, D.M. Dawson, M.W. Hannan
Journal:

Robotica / Volume 18 / Issue 3 / May 2000

Published online by Cambridge University Press:

01 May 2000, pp. 325-336
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This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking. An output feedback controller that adapts for parametric uncertainty in the link dynamics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.