Adaptive least square control in discrete time of robotic arms

In this paper, the trajectory tracking problem of robotic arms in discrete time is considered. To solve this problem, an adaptive least square controller is proposed. The uniform stability of the tracking error and parameters error for the aforementioned controller is guaranteed by means of a Lyapunov-like analysis. The effectiveness of the proposed controller is verified by on-line simulations.

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[40]  Euromoney Publications Plc.  Advanced Concepts and Applications , 2021 .