Observer-based Versus Non-observer Based Adaptive Control of Electrically Driven Cooperative Manipulators Using q-analogue of the Bernstein-Schurer-Stancu Operator as Uncertainty Approximator

Abstract

In this paper, q-analogue of Bernstein-Schurer-Stancu operator is proposed for uncertainty estimation in adaptive control of cooperative electrically driven manipulators. The contribution of this paper is reducing the number of signals needed in construction of the regressor vector for uncertainty estimation due to the simplicity of q-analogue of Bernstein-Schurer-Stancu operator in comparison with other alternatives. It is verified that uniformly ultimately bounded stability of the tracking/approximation errors can be assured if the qanalogue of Bernstein-Schurer-Stancu operator is utilized as regressors.Moreover, it has been assumed that velocity signals are not available and an observer is needed to estimate these signals. Different trajectories including simple and complicated paths have been tested in simulation results. The results are also compared with the case in which velocity signals are in hand to show the accuracy and efficiency of the proposed observer-controller structure.