Robust adaptive axis control of manipulator

Abstract A robust adaptive control scheme is presented in this paper for the control of the independent axes of a manipulator which have uncertainties in parameters and disturbances. The robustness is achieved by applying the Model Reference Adaptive Approach in order to obtain the adaptive laws which do not require the exact knowledge of parameters or payloads and disturbances. Both the second and third order model axes powered by a DC motor are taken into account. Results of digital simulation show that the rotation of the controlled axis follows exactly that of the desired model in spite of the wide range of changes in parameters and payloads.