Model Reference Adaptive Control for Robot Tracking Problem: Design & Performance Analysis

Abstract

In this paper, robots tracking problem with the known and unknown parameters in the presence of torque disturbances are addressed. For addressing this challenge, a controller is designed for tracking the desired path of the robot’s angle. With applying an adaptive controller Jacobian matrix is estimated and updated. Therefore, the tracking error will be reduced and converges to the reference model. The simulation results show the effectiveness of the proposed methods.