Unfalsified adaptive control for manipulators with parameter uncertainties

Abstract

Abstract-This work evaluates by simulation the performance of the Unfalsified Adaptive Control (UAC) for Multiple Degree of Freedom (MDoF) serial manipulators. The UAC is a data-driven technique that addresses stability issues of model-based controllers for robot arms with inertial uncertainties. The unfalsified controller selects the most suitable controller from a set, based on performance, to decide whether the controller in the closed loop should be changed, using only system inputs and outputs, i.e., torques and joint variables of the robotic arm, respectively. In this work, performance and robustness is evaluated by simulation on a 5-DoF manipulator showing the ability of the UAC to accomplish tracking tasks in the presence of inertial parameters disturbances.