ADAPTIVE HYBRID CONTROL STRATEGIES FOR CONSTRAINED ROBOTS

This note addresses the problem of adaptive hybrid controller design f or constrained robots with the consideration of computational efficien cy. Two efficient control schemes respectively based on Lagrange and N ewton-Euler dynamics formulation are presented. Detailed analyses on t racking properties of joint positions, velocities, and constrained for ces are derived for both the Lagrange approach and the Newton-Euler ap proach. Although control laws in these two approaches are developed in dependently, a tight connection between them is signified, which highl ights a possible bridge over different general adaptive approaches res pectively based on the two dynamics formulations.