Synthesis of Adaptive Control of Robotic Manipulator by the Method of Lyapunov Functions

Abstract

The control algorithm of the movement of robotic manipulator (RM) to the point of the program trajectory by the method of Lyapunov function is obtained. The stability of a dynamical system in the entire phase space and its dissipativity in the region of the phase space are investigated with a significant influence of the disturbing moments in operating conditions. The influence of measurement errors of the state vector of RM on the formation of control is taken into account. The proposed adaptive controller can be applied both at the design stage and in real time.