A computationally efficient robust adaptive control algorithm is proposed in this paper. The regressors are implemented using the desired trajectories to replace the actual trajectories in order to reduce the computational burden. To reduce the disturbance introduced by this replacement, an adaptive variable structure control law is proposed. The proposed adaptive control law results in a system that is robust to bounded input disturbances. A small modification of the control law makes the system robust to more general input disturbances. The stability analysis is in the Lyapunov sense. Simulation results demonstrate the validity of the proposed scheme.
HsiaT. C.Adaptive control of robot manipulators—a review. Proceedings of IEEE Conference on Robotics and automation, San Francisco, 1986.
2.
CraigJ. J.Adaptive control of mechanical manipulators, 1988 (Addison-Wesley Publishing Company, New York).
3.
SlotineJ. J. E.LiW.Adaptive manipulator control: a case study. IEEE Trans. Auto. Control, 1988, 33, 995–1003.
4.
JohanssonR.Adaptive control of robot manipulator motion. IEEE Trans. Robotics and Automn, 1990, 6(4), 483–490.
5.
YuH.SeneviratneL. D.EarlesS. W. E.Adaptive control of robot manipulators. Proceedings of IEEE/RSJ International Conference on Intelligent robots and systems, Raleigh, N.C., 1992, pp. 293–298.
6.
OrtegaR.SpongM. W.Adaptive motion control of rigid robots: a tutorial. Proceedings of Twenty-seventh Conference on Decision and control, Austin, Texas, 1988, pp. 1575–1584.
7.
SadeghN.HorowitzR.Stability and robustness analysis of a class of adaptive controllers for robotic manipulators. Int. J. Robotics Res., 1990, 9(3), 74–92.
8.
YuH.SeneviratneL. D.EarlesS. W. E.Robust adaptive control for robot manipulators using a combined method. Proceedings of IEEE International Conference on Robotics and automation, Atlanta, Georgia, 1993, Vol. 1, pp. 612–617.
9.
SuC. Y.StepanenkoY.Adaptive sliding mode control of robot manipulators: general sliding manifold case. Automatica, 1994, 30(9), 1497–1500.
10.
SlotineJ. J. E.LiW.Applied nonlinear control, 1991 (Prentice-Hall, Englewood Cliffs, N. J.)
11.
Armstrong-HelouvryB.DupontP.De WitC. C.A survey of models, analysis tools and compensation method for the control of machines with friction. Automatica, 1994, 30(9), 1083–1138.
