Adaptive Control of a Single Link Manipulator Including Motor and Input Unmodelled Dynamics

An adaptive nonlinear control law that incorporates the manipulatordynamics as well as dynamics of the actuator is developed in this article.The technique is based on nonlinear feedback linearization. The electricalparameters of the actuator are considered to be of uncertain values. Incontrast to known methods the robot position is the only measurementavailable, a nonlinear observer is designed to estimate the remaining statesrequired by the nonlinear controller. Moreover the input unmodelled dynamicsproblem is addressed in the context of nonlinear geometric designs.