Adaptive Control for Robot Manipulator

Goal: Design of adaptive control in the presence of

system uncertainties and disturbances

Reference Tracking:
Regressor-free adaptive
control
Less tuning parameters
Stability in the presence
of disturbances and Two-degree-of-freedom robot
uncertainties manipulator

Rameez Hayat 1
System Identification
Goal: Based on the adaptive control, identify system
parameters using least squares technique

Parameters Estimation:
Approximating system
parameters
Online system
identification
Total least squares Coordinate frames of a 2-DOF
planar robot

Rameez Hayat 2