An Exponentially Stable Adaptive Control Law For Robot Manipulators

This paper presents a new exponentially stable direct adaptive control law for motion control of robot manipulators. This control law utilizes the desired trajectory information instead of the actual manipulator joint signals for feed-forward compensations and paramater adaptation, and, computationally, it is extremely efficient. The exponential stability of the adaptive control algorithm is proven without requiring the persistent excitation condition and by fully considering the non-linear dynamics of the manipulator in the analysis.