Adaptive control of robot manipulators based on passivity

A new adaptation algorithm is presented for adaptive control of robot manipulators. The passivity property of the proposed algorithm is first established, then the stability is proved based on the passivity properties of the plant and those of the proposed algorithm. Because of the use of the past information and averaging effect, this algorithm gives a smoother tracking and parameter error in the presence of disturbances, and a parameter convergence under a weaker excitation condition. Computer simulations are presented to illustrate this effect