Adaptive control approach in case of a rigid link robot system

The case of an adaptive controller is developed for a robot system actuated by brushed direct current motors in the presence of external disturbances and parametric uncertainties. The control scheme requires the measurements of link position and armature current for feedback. The elaborated adaptive controller results in a closed-loop system locally stable while the all states and signals are bounded and the tracking error can be obtained as small as possible. The advantage of the presented algorithm consists in the number of parameter estimates equal to the number of unknown parameters throughout the entire mechanical system. In consequence, it is eliminated the overparametrization induced by employing the integrator backstepping technique in control of electrically driven robots. Finally, the performance of the proposed approach is illustrated in simulation examples.