A ROBUST ADAPTIVE ROBOT CONTROLLER

A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law po ssesses enhanced robustness with respect to noisy velocity measurement s. Second, the controller does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise lev el. Third, we derive for the unknown parameter design a relationship b etween compensator gains and closed-loop convergence rates that is ind ependent of the robot task. A simulation example of a two-DOF manipula tor features some aspects of the control scheme.