Adaptive tracking control with partial regressor for multi-joint robot

This paper presents adaptive tracking control with a partial regressor for multi-joint robots. The proposed controller can abbreviate the elaborate computations of a regressor matrix, which needs to be wholly calculated in conventional adaptive control. Therefore, this controller can be easily implemented in robotic systems. Even though the proposed controller does not utilize robustification techniques of adaptive control such as deadzone, σ-modification, e-modification, and projection, the trajectory tracking performance and robustness were guaranteed through analysis of the time-averaged tracking error.