Hybrid adaptive tracking control of rigid-link electrically driven robots actuated by switched reluctance motors

Abstract

The controller is hybrid in the sense that an adaptive controller is used to compensate for parametric uncertainties within the nonlinear model of the manipulator while an adaptive robust controller corrects for the typically ignored electrical actuator dynamics. That is, in spite of parametric uncertainty throughout the entire electromechanical system dynamics and additive bounded electrical disturbances, it is still possible to ensure a global uniform asymptotic stability (GUAS) result for the link position tracking error.