Adaptive Model-Free Control of Electrically Driven Robot Manipulators

Abstract

This paper presents a Model-Free approach for robot manipulators control. The control signal in this approach is the motors' voltage, and can be directly used. For each of the manipulator joints, a local model is considered, which is based on the manipulator's input and output, and each joint is controlled independently. The only information needed for implementation of this method is the motors' voltage and the position of the joints, which are both easily measurable. In this approach, all system dynamics and external disturbances are considered as an unknown term, that is estimated using an adaptive law obtained from the Lyapunov theory. The designed control law is simple, and controller stability is guaranteed by using this theory. Simulation results and comparison verify the effectiveness of the proposed approach.