An adaptive positional control scheme for robotic systems

Abstract

A model reference adaptive controll scheme based on positional controller is considered. The stability of a point to point motion is guaranteed by the positional controller. The desired trajectory between two end points, however, is assured by the adaptive scheme. Popov's hyperstability theory is used to derive the adaptive scheme. The method is applied to a two-link planar locomotion system. Digital computer simulation results are presented to demonstrate the wide dynamic range, fast response and parameter adaptivity of the system.