Adaptive control for a class of Hamiltonian systems

An adaptive scheme for the motion control of an important class of Hamiltonian systems is presented. The controller does not require knowledge of either the structure or the parameter values of the system dynamic model, is very simple and computationally efficient, and is shown to be globally stable. The control strategy is very general and is implementable for either position regulation or trajectory tracking with a wide variety of systems. It can be demonstrated that accurate and robust motion control can be achieved by using the proposed scheme