FAT-Based Robot Adaptive Control with Position Measurements Only

摘要

A FAT-based adaptive controller is proposed in this paper for robot manipulators without using velocity measurements. The adaptive strategy is free from the regressor matrix and can effectively tolerate various internal uncertainties in the robot model and external disturbances. To avoid the feedback of the joint velocity, a linear filter is designed so that a pseudo velocity signal can be obtained. Rigorous proof of closed loop stability is provided with the support of the Lyapunov's theory. Simulation cases are given to show its feasibility.