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A new robust composite adaptive approach to the control of rigid robots which guarantees finite error convergence time.

Barambones O., Etxebarria V.

Systems Science

2000

Vol. 26, nr 3

69-81

In this paper a new robust adaptive control scheme for robotic manipulators is presented. The design consists of: 1) a composite adaptive controller, driven by both the tracking and the prediction errors, for learning the modelled dynamics; and 2) a nonlinear sliding mode control law that overcomes the unmodelled dynamics and noise. As a whole, the closed-loop system is proved to be stable and it is shown that the tracking error converges to zero in finite time.