Globally Adaptive Decentralized Control of Robot Manipulators

Abstract

In this paper, we develop a new adaptive decentralized controller of robot manipulator for trajectory tracking. With the nonlinear control terms, the closed-loop system is globally stable. Furthermore, the adaptive decentralized controller is considered with a σ-modification term such that it becomes robust to the noise in practical implementation. Finally, a numerical study is provided to verify the effectiveness of the proposed scheme.