Adaptive Control of Robotic Manipulators with Improvement of the Transient Behavior Through an Intelligent Supervision of the Free-Design Parameters and the Sampling Period

An adaptive control scheme for mechanical manipulators proposed. The control loop consists of a network for learning the robot's inverse dynamics and on-line generating the control signal. Some simulation results were provided to evaluate the design. A supervisor was used to improve the performances of the system during the adaptation transients. The supervisor exerts two supervisory actions. The first one consists of updating the free-design adaptive controller parameters so that the value of a quadratic loss function maintained sufficiently small. The second supervisory action consists of an on-line adjustment of the sampling period within an interval centered at its nominal value.