Adaptive tracking control of rigid-link electrically-driven manipulators

This paper presents a new trajectory tracking control scheme for uncertain rigid-link electrically-driven manipulators. The proposed controller is an adaptive strategy which is computationally efficient, requires virtually no information concerning either the manipulator or actuator models, and is very general and readily implementable. It is shown that the controller ensures semiglobal uniform boundedness of all signals in the presence of bounded disturbances, and that the ultimate size of the tracking errors can be made arbitrarily small