Abstract
This paper is concerned with a new discrete time adaptive control scheme for robotic manipulators. In order to reduce the number of unknown parameters, a nonminimum phase discrete time model of manipulators is used for the plant model. Because the usual model reference adaptive control scheme can not be applied to nonminimum phase plants, we construct a quasi-model-reference adaptive control system which permits small error between the reference model and the plant outputs. The asymptotical stability of the control system in the large is proved under a certain condition. A method of determining the parameters of the control system is proposed. The validity of the proposed control system is confirmed experimentally.
