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xiv CONTENTS

References 253
Problems 257

5 Robust Control of Robotic Manipulators 263
5.1 Introduction 263
5.2 Feedback-Linearization Controllers 265
Lyapunov Designs 268
Input-Output Designs 273
5.3 Nonlinear Controllers 293
Direct Passive Controllers 293
Variable-Structure Controllers 297
Saturation-Type Controllers 306
5.4 Dynamics Redesign 316
Decoupled Designs 316
Imaginary Robot Concept 318
5.5 Summary 320
References 321
Problems 324

6 Adaptive Control of Robotic Manipulators 329
6.1 Introduction 329
6.2 Adaptive Control by a Computed-Torque Approach 330
Approximate Computed-Torque Controller 330
Adaptive Computed-Torque Controller 333
6.3 Adaptive Control by an Inertia-Related Approach 341
Examination of a PD Plus Gravity Controller 343
Adaptive Inertia-Related Controller 344
6.4 Adaptive Controllers Based on Passivity 349
Passive Adaptive Controller 349
General Adaptive Update Rule 356
6.5 Persistency of Excitation 357
6.6 Composite Adaptive Controller 361
Torque Filtering 362
Least-Squares Estimation 365
Composite Adaptive Controller 368
6.7 Robustness of Adaptive Controllers 371
Torque-Based Disturbance Rejection Method 372
Estimator-Based Disturbance Rejection Method 375
6.8 Summary 377
References 379
Problems 381

Copyright © 2004 by Marcel Dekker, Inc.