Model-Reference Adaptive Control of Robots Using Interconnected Feedback

This paper presents a simple centralized adaptive control algòrithm for a multi-link robot manipulator. The proposed control scheme for each joint consists of (1) PD feedback control with adaptively adjusting gains; (2) a second derivative feedforward control loop with adjusting gains; (3) a compensation for the static and dynamic couplings, which is added through an interconnection of link control loops and consists of a PD and D² feedforward loop from other links. The overall controller is simple and easy to implement and is tolerant to variations of the parameters and the payload.