Abstract
On-line computer control with high speed and accuracy is needed in industrial robotics. Thus, discrete-time controller design for robotic manipulators is necessary. In this article, the two continuous-time model reference adaptive control schemes presented in Yang and Woo (1992) are put forth in discrete forms. The stability analysis stems from Lyapunov's Direct Method (Slotine and Li 1991), which guarantees the asymptotic stability of a system. Like any discrete-time control system, the time required for the computer to perform the necessary computation may result in extended sampling time, which could degrade the stability of the system. In this article, we obtain the sufficient condition of stability for the designed discrete-time controllers. A set of right sampling time and weighting factors are chosen to show the highly accurate tracking. Through the MATLAB software (PC MATLAB MANUAL 1992) simulation, we can see that the manipulator does follow the desired trajectory with high accuracy, even when the payload is changing. It proves the effectiveness of the designed controllers.
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