Degree Name

Doctor of Philosophy


Department of Electrical and Computer Engineering


The investigations and research introduced in this dissertation are about the development of novel adaptive control strategies for trajectory tracking motion control of robotic manipulators. The overall control system structure is based on a two-component control law: one is a filli model inverse dynamic control law (the computed torque control scheme) which is a non-adaptive control component and the other is an adaptive control component. Because the dynamic parameters used in the first control law do not usually match the real unknown parameters of the controlled robot dynamics, the resultant tracking error equation is not exact. For this tracking error dynamics a decentralized system structure is obtained by decomposing the signal stimulating the error system into two parts: one is the paramaterized dominant input and the other takes into account the interconnections between each subsystem. Utilizing this decentralized system structure, the adaptive control component is designed for each subsystem. The main results are two novel adaptive algorithms for robot trajectory following control based on the decentralized system structure.