Scrutiny of Nonlinear Adaptive Output Feedback Control for Robotic Manipulators

  • Davood Mohammadi Souran
  • Mohammad Hassan Askari
  • Nima Razagh Pour
  • Behrooz Razeghi
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 264)


In this paper we present a nonlinear adaptive output feedback control algorithm. The algorithm is for model reference adaptive control of robotic manipulators. This algorithm uses model signals in the regressor and the linearization law and hence, does not require an observer. We show via various simulations that this algorithm has a region of convergence. We also show that the region of convergence can be increased if a normalizing factor is used in the adaptation law.


Adaptive control Nonlinear System Algorithm Robotic Manipulators 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Davood Mohammadi Souran
    • 1
  • Mohammad Hassan Askari
    • 2
  • Nima Razagh Pour
    • 3
  • Behrooz Razeghi
    • 4
  1. 1.School of Electrical and Computer EngineeringShiraz UniversityShirazIran
  2. 2.Sun Air Research InstituteFerdowsi University of MashhadMashhadIran
  3. 3.Department of Electrical EngineeringSadjad Institute of Higher EducationMashhadIran
  4. 4.Department of Electrical EngineeringFerdowsi University of MashhadMashhadIran

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