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

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