Variable structure adaptive cascade control of rigid-link electrically-driven robot manipulators

This paper addresses the design of adaptive tracking control of rigid-link electrically-driven robot manipulators, in the case of arbitrary uncertain mechanical and electrical parameters of the robot model. A strategy based on cascade central is presented combining an adaptive scheme for rigid-link robot control with a variable-structure control law for actuator control. Global asymptotic stability is ensured and the very satisfactory performance achieved is illustrated by a simulation example.<>