On modelling and multivariable adaptive control of robotic manipulators

The paper deals with some adaptive multivariable techniques used for the control of robotic manipulators. The nonlinear control law and state feedback are used in order to achieve a linear input-output behavior for the controlled system. For the design of the adaptive nonlinear control, the exact feedback input-output linearization and the method of gradient are used. The models of the robotic manipulators are presented and both monovariable and multivariable cases are widely analysed. In the multivariable case, the nonlinear control law achieves also decoupling. Numerical simulations are included to demonstrate the behavior and the performances of these controllers.