New Robot Adaptive Control Strategies Through Nonholonomic Transformations

Abstract

The design problem of model-based adaptive control of robots with unknown parameters is considered. By intro ducing a nonholonomic transformation of the error dynamics, a general class of adaptive algorithms is obtained, which includes some previously derived results as special cases. The algorithms can be implemented through fast recursive schemes such as the Newton-Euler formulation without requiring excessive feedback gains. By setting certain terms, it is also possible to obtain an exponential convergence of the joint errors.