Abstract
This paper proposes a new adaptive trajectory controller in order to realize a good transient performance of trajectory control system for a 2 degree of freedom planer rigid robot arm. This is an improved version of the controller proposed in literature(2) and consists of a new friction compensator and a dynamic certainty equivalent adaptive controller. The former does not use any friction models. It is designed as a nonlinear PI controller which directly compensate friction torque. The latter is designed so as to be robust to load change. Then, adjustable parameters are tuned by a dead zone adaptation law which is robust to the existence of bounded friction compensation error. The effectiveness of the proposed controller is verified by a simple analysis and numerical simulation results.
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