Brian J. Driessen
Velocity observer, globally asymptotic tracking (GAS), robot, global asymptotic, adaptive, output feedback, rigid link electrically driven (RLED)
In this work, we consider the position-tracking problem of a revolute-joint robot with joints driven by DC brush motors. The joint velocity is not measured. Only link positions and motor currents are measured. The parameters of both the mechanical sub-system and the electrical sub-system are unknown. We prove that the proposed observer/controller gives a global asymptotic stability (GAS) result with all closed-loop signal remaining bounded. To our knowledge, this is the first adaptive GAS result for this plant. The control voltage is discontinuous, however, only at isolated instants of time.
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