Adaptive computed torque control for rigid link manipulations. (English) Zbl 0636.93051

This paper presents an adaptive computed-torque control method for rigid link mechanical manipulators. The dynamic equations of motion of the system are suitably parametrized in such a way that linear estimation can be used. This avoids the drawbacks concerned with former adaptive controllers such as: i) non-zero tracking errors, ii) unbounded feedback gains or iii) ‘chattering’ effects. The resulting control law remarkably requires measurements of state variables only. Global convergence is established. The paper is nicely written and well organized. It would be interesting to see further results on robustness, computational aspects and performance issues of the proposed control law.
Reviewer: B.Siciliano


93C40 Adaptive control/observation systems
70Q05 Control of mechanical systems
93C10 Nonlinear systems in control theory
70B15 Kinematics of mechanisms and robots
93C95 Application models in control theory
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