Non-certainty equivalent adaptive control for robot manipulator systems

A novel adaptive control solution to robot manipulator control problems is presented, based on a non-certainty equivalent approach. The key idea involves a new filter construction for the regressor terms within the governing dynamics that enables the establishment of a stabilizing mechanism within the adaptation process for unknown parameters. Viewed in the setting of filtered signals, the technical developments share some features inherent to the immersion and invariance (I&I) adaptive control methodology while maintaining certain crucial distinctions. In particular, the results stated here are not subject to satisfaction of any integrability or manifold attractivity conditions implicit within the powerful framework of I&I adaptive control. The paper presents numerical simulation of the new control scheme to highlight potential closed-loop performance improvements compared to the application of classical certainty-equivalence based adaptive controllers.