On the observer based real-time adaptive controller for robot manipulators

In this paper, we propose a new type of observer based adaptive controller as one of the approaches for controlling the robot manipulators in real-time. In our scheme a regressor, which is the main computation for the existing adaptive controllers, is computed off-line for real-time implementation. With Lyapunov stability theory and by the simulation we show that the proposed controller is asymptotically stable and confirm the validity of the algorithm. The computation time of the proposed scheme is smaller than those of the existing one and its structure is also simple so that it´s useful to implement as a real-time controller