Adaptive control of robots with an improved transient performance

摘要

By using a robust control technique, this note proposes an adaptive control for rigid robots with the following important features: under a parameter-dependent persistent excitation (PE) condition, it gives a guaranteed transient performance of tracking a smooth desired trajectory while assuring the parameter, estimation error to go to a residual set of the origin arbitrarily fast. Simulations are included to support the theoretical results.