Variation of Modified Simple Adaptive Control for a Two-Link Planar Robot

Abstract

This paper proposes an adaptive control law to enable the end effector of a 2-link planar robot manipulator to track a square path. The proposed control law is similar to the Modified Simple Adaptive Control (MSAC) law, but by adding a weighting function to gains of the MSAC, we cope with the case that the error is large like the position of end effector away from the desired path. By adding a weighting function, we improve the sensitivity of the adaptive gains to error. Stability analysis showed that the system is asymptotically stable and that the controller can regulate errors to zero. In simulations, the modified method improved adaptation to errors and reducing the control torque, while maintaining a similar tracking result.