Adaptive perturbation control with compensation for disturbances for robot manipulators

This paper presents the development of an adaptive perturbation control for compensating inexact or changing dynamic parameters of a manipulator for better tracking along a desired trajectory. The influence of inexact parameters on the manipulator motion is formulated as an equivalent disturbance torque input to the manipulator´s perturbation equations of motion. The analysis of the perturbation control system suggests that the equivalent disturbance torque can be compensated by an integral of control torques while an integral of system errors can be used to eliminate the bias present in the system errors. Computer simulation was conducted to verify the performance of the proposed adaptive control strategy.