A robust adaptive controller for robot manipulators

Abstract

Abstract- In the present paper we propose a globally convergent adaptive control scheme for robot motion con-trol with the following features: First, the adaptation law possesses enhanced robustness with respect to noisy vel-ocity measurements. Secondly, the controllex does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Thirdly, we derive for the known parameter design a relationship between compensator gains and closed-loop convergence rates which is independent of the robot task. This helps the designer to carry out the gain tuning with an eye on the robustness- performance tradeoff.