An application of unfalsified control theory to the design of a switching a
daptive controller for a non-linear robot manipulator is described. In the
unfalsified control approach, candidate controllers are eliminated and disc
arded when their ability to meet performance goals is falsified by evolving
experimental data. Switching occurs when the currently active control law
is among those falsified. In this design study, the candidate controllers a
re non-linear, and have a non-linear 'computed torque' control structure wi
th four switchable parameters corresponding to unknown masses, inertias and
other dynamical coefficients of a class of ideal, but imperfect robot arm
models. Simulations confirm that our unfalsified switching controller permi
ts significantly more precise and rapid parameter adjustments than a conven
tional adaptation law having continuous parameter update rules, especially
when the manipulator arm is subject to sudden random changes in mass or loa
d properties. Copyright (C) 2001 John Wiley & Sons, Ltd.