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

An adaptive nonlinear control law that incorporates the manipulator dynamics as well as dynamics of the actuator is developed in this article. The technique is based on nonlinear feedback linearization. The electrical parameters of the actuator are considered to be of uncertain values. In contrast to known methods the robot position is the only measurement available, a nonlinear observer is designed to estimate the remaining states required by the nonlinear controller. Moreover the input unmodelled dynamics problem is addressed in the context of nonlinear geometric designs.