Switched adaptive control with average dwell time for a class of robot manipulators

This paper presents a switched adaptive controller using the average dwell time method to solve the load variation problem of robot manipulators. Considering the parameter jump caused by the load variation, we model the robot manipulator as a switched system. The switched adaptive controller switches synchronously with the system. A sliding mode adaptive control approach is adopted to avoid using joint accelerations and the inverse of time-variant matrices. Uniformly ultimate boundedness of the tracking error is obtained. Simulation is given to demonstrate the effectiveness of the proposed method.