Low-cost and high efficiency robust adaptive control of artificial arms

The problem of the artificial arm control is studied in this paper. Because of its complexity in mechanical structure and analytical model, artificial arm control is non-trivial and the resultant control schemes normally turns out to be quite complicated, demanding heavy computations. In this paper, a structurally simple and computationally inexpensive robust adaptive control is designed and applied to artificial arms. Various nonlinear impacts arisen from coupling nonlinearities and dynamic uncertainties in the model are addressed in control design. Simulation results are presented to show the performance of the robust adaptive control.