Ll. Whitcomb et al., COMPARATIVE EXPERIMENTS WITH A NEW ADAPTIVE CONTROLLER FOR ROBOT ARMS, IEEE transactions on robotics and automation, 9(1), 1993, pp. 59-70
This paper presents a new model-based adaptive controller and proof of
its global asymptotic stability with respect to the standard rigid-bo
dy model of robot-arm dynamics. Experimental data from a study of one
new and several established globally asymptotically stable adaptive co
ntrollers on two very different robot arms 1) demonstrate the superior
tracking performance afforded by the model-based algorithms over conv
entional PD control, 2) demonstrate and compare the superior performan
ce of adaptive model-based algorithms over their nonadaptive counterpa
rts, 3) reconcile several previous contrasting empirical studies, and
4) examine contexts that compromise their advantage.