Robust adaptive motion control of rigid robots subject to input and output bounded disturbances

Addresses the problem of controlling rigid robots subject to joints velocity measurements and torque input bounded disturbances. The new control law is based on the algorithms studied in Slotine and Li (1988) and Sadegh and Horowitz (1987), with an e₁-modification in the parameters update law. A priori knowledge on the bounds of the plant parameters and disturbance is not required but it is shown that it can be used to improve the control performance. The system input and output are shown to be bounded in both cases