An error reference plane of an adaptive controller for a SCARA manipulator

We study and design an adaptive nonlinear mixed mode controller, focusing on a new reference plane. Its global asymptotic stability with respect to a nonlinear system: a SCARA robot, is theoretically and experimentally proved. The effectiveness of the proposed error reference planes is verified. Our state adaptation algorithm, modeled by using state errors, is able to change characteristics and configuration of each operating point. The experimental results clearly indicate the performance in fast tracking and converging zero of adaptive plane, derivative plane and integral plane.