Discrete Time Model Reference Adaptive Control Of Manipulators

This paper deals with an implementation of discrete time model reference adaptive control algorithm for manipulators. Based on the independent tracking and regulation design, a new discrete-time model reference adaptive control algorithm is presented. In this scheme, the tracking dynamics of reference model and regulation dynamics are specified independently. The advantages of using this adaptive control algorithm over little priori knowledge of the plant parameters is required. It is able to compensate for inertia variations due to payload and configuration changes and for others disturbances and can well resist the disturbance of payload. Simulation results show that this adaptive control algorithm is effective in reducing the sensitivity of the manipulator performance to configuration and payload variations.