An adaptive positional control scheme for robotic systems

A model reference adaptive controll scheme based on positional controller is considered. The stability of a point to point motion is guaranteed by the positional controller. The desired trajectory between two end points, however, is assured by the adaptive scheme. Popov´s hyperstability theory is used to derive the adaptive scheme. The method is applied to a two-link planar locomotion system. Digital computer simulation results are presented to demonstrate the wide dynamic range, fast response and parameter adaptivity of the system.