AN EFFICIENT ROBUST ADAPTIVE CONTROLLER FOR ROBOTIC ARMS IN THE PRESENCE OF TIME-VARYING PARAMETERS

An efficient robust adaptive control scheme is presented for nonlinear robotic arm systems with bounded time-varying parameters, Unlike othe r controllers for time-varying robotic models, the presented control s cheme does not require the calculation of the regressor matrix and doe s not impose any restrictions on the rate of changes of unknown robot parameters, The controller is simple, computationally fast and provide s stable trajectory tracking in the presence of a class of state-depen dent disturbances. Stability analysis indicates that the tracking erro r will eventually converge into a closed region, which can be made arb itrarily small by adjusting the control parameters.