Adaptive control of robot manipulators including motor dynamics

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Authors: Yu, H. and Lloyd, S.

Journal: Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering

Volume: 209

Issue: 3

Pages: 207-217

ISSN: 0959-6518

DOI: 10.1243/PIME_PROC_1995_209_385_02

An adaptive control scheme for robot manipulators including motor dynamics is proposed in this paper. The proposed scheme avoids the assumption that the values of motor parameters are known which is required in reference (13). An exponential control law is first developed under the assumption of no uncertainty. This forms a controller structure for the adaptive control. Using this control structure, a full-order adaptive control law is proposed to overcome parameter uncertainty for both robot link and motor. The stability analysis is in the Lyapunov stability sense. The method is further extended to the task space. Extensive simulations are performed to compare the different control schemes.

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