A New Recursive Composite Adaptive Controller for Robot Manipulators

Abstract

In this paper, a new recursive implementation of composite adaptive control for robot manipulators is proposed. We investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form, which, to our knowledge, is the first result on this point in the literature. The proposed algorithm has an amount of computation <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" overflow="scroll"><mml:mi>O</mml:mi><mml:mfenced close=")" open="("><mml:mrow><mml:mi>n</mml:mi></mml:mrow></mml:mfenced></mml:math> , which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree manipulators. The manipulator of the Chinese Space Station is employed as a simulation example, and the results verify the effectiveness of this proposed recursive algorithm.