The decentralized robust control schemes with a nonlinear adaptive observer

Abstract

The author proposes a decentralized robust control scheme for a robot manipulator with a nonlinear adaptive observer which is based on the simplified dynamics model of the robot manipulator system. It can greatly reduce the amount of online calculation required for controller design. In order to adapt to the changes of the payload and other parameters of the system, a nonlinear adaptive observer is designed to modify the model parameters.<>