Adaptive Stabilization Control for Fully Actuated Systems with Unknown Measurement Sensitivity

This study addresses the adaptive control problem of uncertain high-order fully actuated systems with unknown measurement sensitivity. Sensitivity is a crucial metric for assessing sensor performance, directly influencing the effectiveness of sensor applications. Considering sensitivity as an unknown constant, this paper employs the theory of fully actuated systems. An adaptive controller is designed based on the actual measurement values of the system state, aiming to achieve stable control performance and bounded signals within the closed-loop system. Finally, the proposed control approach is applied to a 2-DOF robotic arm, validating the effectiveness of the proposed methodology.