Direct adaptive control of nonlinear robot dynamics

The payload variation and modeling error can lye parameterized in such a way that known nonlinear functions are multiplied linearly by parameter errors. An adaptive control algorithm is derived for a perturbed linear system with such parameterization. Hence, in this approach no linear approximation of robot system is needed for the application of an adaptive law. The stability of the adaptive control algorithm is established and also supported by a computer simulation result.