ROBUST ADAPTIVE-CONTROL OF LAGRANGIAN SYSTEMS

This paper presents a new adaptive scheme for the motion control of an important class of Lagrangian systems. The proposed controller does n ot require knowledge of either the structure or the parameter values o f the system dynamic model. As a consequence, the control scheme is ve ry general and computationally efficient, and is implementable with a wide variety of systems. It is shown that the control strategy is glob ally stable in the presence of bounded disturbances, and that in the a bsence of disturbances the ultimate bound on the size of the trajector y tracking errors can be made arbitrarily small. The capabilities of t he proposed control scheme are illustrated through computer simulation s and experiments involving industrial robots. These studies demonstra te that the controller provides a simple and effective means of obtain ing high performance trajectory tracking.