An adaptive state observer for robust control of robotic systems

In this paper we address the problem of state observation for robust control of robotic systems. An adaptive observer is proposed to estimate the system state variables using Legendre polynomials. Also, the unknown nonlinearities are approximated by Legendre polynomials. Based on Lyapunov stability analysis, the convergence of the trackingerror and the observation error to zero is guaranteed. Also, all the adaptive laws are derived via Lyapunov approach. An articulated manipulator is employed in our simulation studies, and the results demonstrate the usefulness and effectiveness of the proposed technique.

کلیدواژه ها:

state observer ، Legendre polynomials ، robust control ، robotic systems