Adaptive Control of Robot Manipulator Having Friction and Uncertainties

A novel approach for adaptive control of robot manipulators having friction and other uncertainties using exponential estimation laws has been proposed. Proposed estimation law is based on time varying parameters and depends upon the system dynamics and tracking error. Friction is an important aspect for control design of mechanical systems, including robotics, because it can lead to tracking errors, limit cycles, and undesired stick-slip motion. The developed error derived adaptive compensator ensures global position tracking when applied to an n degree of freedom manipulator perturbed by friction forces, random external disturbances, measurement noise, and all the system parameters (robot and friction model) unknown.