A nominal adaptive controller for a robot manipulator

Abstract

Abstract This article derives an adaptive controller to achieve trajectory following for a robot manipulator. Lyapunov's second method is used for the design. The parameter, position, and velocity errors are shown to be uniformly bounded in the presence of an unknown bounded disturbance. To obtain insight for selecting the various control parameters for maintaining small tracking and parameter errors, we derive an error bound in terms of the system disturbances.