Exponentially Stable Trajectory Following Of Robotic Manipulators Under A Class Of Adaptive Controls

For the trajectory following problem of a robot manipulator, a new class of adaptive controls is introduced. A control in this class consists of a robust control part and an adaptive part. It is shown that the adaptive control part can be chosen to be any of existing adaptation laws and that consequently existing results can be viewed as special cases of the proposed result. The robust control part is added to make the whole adaptive control system be robust with respect to possible unknown functional dynamics, estimation error, and disturbances. The choice of robust control part depends only on bounding functions of the uncertainties. The global and exponential stability of the position and velocity tracking errors is guaranteed under every control in the proposed class. © 1992