Abstract
In this paper, the robot dynamics are represented by a nonlinear state-space model containing a disturbance term due to gravitational loading. Using a suitable linear time-invariant reference model, an adaptive model-following control problem is formulated which satisfies the matching conditions. The control input is designed to have two components: a nonadaptive 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 superimposed and then the overall asymptotic hyperstability is established. The simulation results on the first three joints of PUMA 560 robot manipulator indicate the potential of our design approach.
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Based on research supported by Kuwait University Research Administration under Grant No. EE 049.
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Mahmoud, M.S., Bahnasawi, A.A. A design approach to adaptive model-following control of robotic manipulators. J Intell Robot Syst 10, 191–207 (1994). https://doi.org/10.1007/BF01258228
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DOI: https://doi.org/10.1007/BF01258228