EXPONENTIALLY STABLE ADAPTIVE CONTROL FOR RIGID ROBOTIC MANIPULATORS WITH A CLASS OF INPUT INJECTION
Igor Jucha - Daniel Kalaš
The paper presents a composite adaptive control law based on the direct
Lyapunov method with an input injection for trajectory tracking of
"n-degree-of-freedom robot manipulator". The global exponential stability
of the control algorithm is proved by the direect Lyapunov method.
The quality of adaptive control suggested is tested by simulations of
the trajectory tracking influenced by occasional
upper bounded parametric and signal disturbances.
Keywords: adaptive control, robotics, input injection, exponential stability