Hybrid Adaptive-Control For The Tracking Of Rigid-Link Electrically-Driven Robots

In this paper, we design a hybrid adaptive/robust tracking controller for rigid-link electrically-driven (RLED) robot manipulators. The controller is hybrid in the sense that an adaptive controller is used to compensate for parametric uncertainties in the rigid-link equation while an adaptive robust controller corrects for the typically ignored electrical actuator dynamics. That is, in spite of these detrimental uncertainties and effects, we are still able to ensure global asymptotic stability of the link position tracking error