Adaptive model-following controller for robotic manipulators

Abstract

A nonlinear state-space model representing the robot dynamics and containing a disturbance term due to gravitational loading is presented. An adaptive model-following control problem satisfying the matching conditions is formulated using a suitable linear time-invariant reference model. The control input is designed to have two components: a non-adaptive linear component to do the task of model-following and a nonlinear unit-vector component based on hyperstability theory to do the adaptive task. An additional integral feedback term is further added and then the overall asymptotic hyperstability is established. Simulation experiments on the first three joints of a PUMA 560 robot manipulator have indicated the potential of our design approach.