Adaptive control for robot manipulators using discrete time identification

An adaptive control scheme is proposed for rigid link robots where the control signal computations are performed continuously and the control coefficient computations are performed in discrete time. A global boundedness result is established for the resulting scheme, independent of the sampling rate. It is also shown that the position, velocity, and acceleration tracking errors are of the order of the sampling period. Furthermore, it is shown that, if the reference trajectory is persistently exciting (in a continuous-time sense), then, for a sufficiently fast sampling rate, the tracking errors decay to zero