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A model-based adaptive controller and proof of its global asymptotic stability with respect to the standard rigid-body model of robot-arm dynamics are presented. Experimental data from a study of one new and several established globally asymptotically stable adaptive controllers on two very different robot arms: (1) demonstrate the superior tracking performance afforded by the model-based algorithms over conventional PD control; (2) demonstrate and compare the superior performance of adaptive model-based algorithms over their nonadaptive counterparts; (3) reconcile several previous contrasting empirical studies; and (4) examine contexts that compromise their advantage.>
Whitcomb et al. (Fri,) studied this question.
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