Time Delay Estimation Based Model Reference Adaptive Control for Robot Manipulators

Generally model-reference adaptive control (MRAC) is designed using known regression matrix. However, the formulation of regression matrix is difficult for more degree of freedoms (DOFs) of robot manipulator and sometime impossible to compute for many applications. In this work, MRAC using time delay estimation (TDE) named (MRAC-TDE) is proposed to avoid complex calculation of regression matrix and provides model-free control. Therefore, TDE is devised to estimate the unknown dynamics and MRAC is used to update the control gains. The closed-loop stability of system is investigated using the Lyapunov stability criterion. In the end, to validate the effectiveness of the proposed method, simulations are illustrated the appropriateness of proposed MRAC-TDE.