Three High Performance Global Tracking Composite Adaptive Controllers for Fully Actuated Euler-Lagrange Systems: Experimental Validation

Abstract

Three adaptive global tracking controllers for fully actuated Euler-Lagrange systems, with verifiable performance improvement over existing designs, are reported in this letter. Two of these controllers ensure global exponential convergence under a weak interval excitation condition. Besides, one of the proposed controllers features a simple adaptive PID-like structure that-unlike classical solutions-avoids the need for additional filtering. We adopt a composite adaptation architecture, invoke a novel parameterization of the system dynamics and use a high performance estimation scheme recently introduced in the literature. Real-time experiments and a comparative study with a learning-based adaptive controller on a two-degrees-of-freedom manipulator arm illustrate the effectiveness of the proposed controllers.