Redesign of hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators

In a recent work of the authors (1995), a hybrid adaptive controller for rigid-link electrically-driven robot manipulators was proposed. Semi-global asymptotic stability of the controller was established in the Lyapunov sense. However, there are two limitations in it. One is that the controller requires the joint velocity measurements, that with the required accuracy can be difficult to realize in practical applications. The other one assumes the boundedness of estimated inertia parameters of the manipulator in order to reduce the computational complexity. In this paper, we propose a modification of the hybrid adaptive controller, which eliminate the above mentioned limitations. Hence the range of applicability of the method given previously can be greatly broadened. The capabilities of the proposed control strategies are illustrated through computer simulation