An adaptive model following control for robotic manipulators

A control scheme is presented for trajectory following with robotic manipulators. The method employs a model-referenced adaptive control strategy based on the concepts of hyperstability for correcting deviations from the desired trajectory. The control scheme takes into account dynamic nonlinearities, geometrical and physical nonlinearities, the drive-train dynamics as well as dynamic coupling present in a manipulator. Computer simulations are given to demonstrate the feasibility of the control scheme.