A controller for the trajectory tracking of robotic manipulators is developed. This controller uses online recursive identification techniques to track the model parameters which describe the manipulator dynamics. The identified model is then used to compute a feedforward signal such that the desired trajectory is followed. A general procedure for implementing the recursive identification controller on a nonlinear manipulator is presented. The model structure used to identify the plant dynamics is based on a Fourier series expansion of the nonlinear plant parameters over each execution of the desired trajectory. The performance of a PD controller is used as a benchmark to assess the tracking accuracy of the recursive identification controller on a two degree of freedom manipulator.

Modeling and Control of Robotic Manipulators and Manufacturing Processes. Presented at the Winter Annual Meeting of the American Society of Mechanical Engineers.
Department of Systems and Computer Engineering

Schwartz, H.M, & Youcef-Toumi, K. (K.). (1987). RECURSIVE IDENTIFICATION CONTROLLER FOR MANIPULATOR TRAJECTORY TRACKING. In American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC (pp. 363–370).