Skip to main content Accessibility help

A hybrid adaptive control approach for robust tracking of robotic manipulators: theory and experiment

  • Shafiqul Islam (a1) and Peter X. Liu (a1)


In this work, a novel hybrid control strategy is proposed for robust trajectory tracking control of robotic systems. The main interest of using hybrid design is to reduce the controller gains so as to reduce control efforts from the single model certainty equivalence principle- based adaptive controllers. For this purpose, we allow the parameter estimate of conventional adaptive control design to be switched into a model that best approximates the plant among a finite set of models. First, we uniformly divide the compact set of unknown parameters into a finite number of smaller compact subsets. Then we construct a finite set of candidate controller for each of these smaller compact subsets. The derivative of the Lyapunov function candidate is employed to identify a controller that closely approximates the plant at each instant of time. The idea of introducing hybrid approach in adaptive control framework is to achieve good transient tracking performance with smaller values of controller gains in the presence of large-scale parametric uncertainties. The proposed method is implemented and evaluated on two 3 degree-of-freedom Phantom Premimum™ 1.5 telerobotic systems to demonstrate the effectiveness of the theoretical development.


Corresponding author

*Corresponding author. E-mail:


Hide All
1.Erlic, M. and Lu, W., “A reduced-order adaptive velocity observer for manipulator control,” IEEE Trans. Robot. Autom. 11, 293303 (1995).
2.Tayebi, A. and Islam, S., “Adaptive iterative learning control for robot manipulators: Experimental results,” Control Eng. Pract. 14, 843851 (2006).
3.Tayebi, A. and Islam, S., “Experimental Evaluation of An Adaptive Iterative Learning Control Scheme on a 5-DOF Robot Manipulators,” Proceedings of the IEEE International Conference on Control Applications, Taipei, Taiwan (Sep. 2–4, 2004), pp. 10071011.
4.Hua, C. and Liu, P. X., “Convergence analysis of teleoperation systems with unsymmetric time-varying delays,” IEEE Trans. Circuits Syst.-II, 56 (3), 240244 (2009).
5.Liu, G., “Control of Robotic Manipulators with Consideration of Actuator Performance Degradation and Failures,” Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea (May 21–26, 2001).
6.Liu, G. and Goldenberg, A. A., “Comparative study of robust saturation-based control of robot manipulators: analysis and experiments,” Int. J Robot. Res. 15 (5), 473491 (1996).
7.Liu, G. and Goldenberg, A. A., “Robust control of robot manipulators based on dynamics decomposition,” IEEE Trans. Robot. Autom. 13 (5), 783789 (1997).
8.Liu, G. and Goldenberg, A. A., “Experiments on Robust Control of Robot Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, Nice, France (May 1992).
9.Polouchine, I. G. and Tayebi, A., “Anticipating iterative learning control of robot manipulators,” Proc. Am. Control Conf. 14, 843851 (2006).
10.Polouchine, I. G., Force-reflecting Tele Operation Over Wide-area Networks, Ph.D. Thesis (Carleton University, Ottawa, Canada, 2009).
11.Pomet, J.-B. and Praly, L., “Adaptive nonlinear regulation estimation from the Lyapunov equation,” IEEE Trans. Autom. Control 37, 729740 (1992).
12.Astrom, K. J. and Wittenmark, B., Adaptive Control (Addison-Wesley, Indiana, 2nd edition, 1995).
13.Meng, M. Q. H. and Lu, W.-S., A Unified Approach to Stable Adaptive Force/Position Control of Robot Manipulators, Proceedings of the American Control Conference (June 1994).
14.Spong, M. W. and Vidyasagar, M., Robot Dynamics and Control. (Wiley, New York, 1989).
15.Spong, M. W., “On the robust control of robot manipulators,” IEEE Trans. Autom. Control 37 (11), 17821786 (1992).
16.Pagilla, P. R. and Tomizuka, M., “An adaptive output feedback controller for robot arms: stability and experiments,” Automatica 37, 983995 (2001).
17.Ioannou, P. and Sun, J., Robust Adaptive Control (Prentice Hall, New Jersey, 1996).
18.Murray, R. M., Li, Z. and Sastry, S. S., A Mathematical Introduction to Robotic Manipulation (CRC Press, 1994).
19.Islam, S. and Liu, P. X., “PD output feedback for industrial robot manipulators,” to appear in IEEE/ASME Trans. Mechatronics, 2009.
20.Islam, S., Adaptive Output Feedback for Robot Manipulators Using Linear Observer, Proceedings of the International Conference on Intelligent System and Control (Nov 16–18, 2008 Orlando, Florida).
21.Islam, S. and Liu, P. X., Adaptive Fuzzy Output Feedback Control for Robotic Manipulators, IEEE SMC, San Antonio, TX, US (Oct 11–14, 2009) pp. 27042709.
22.Islam, S. and Liu, P. X., Robust Control for Robot Manipulators by Using Only Joint Position Measurements, Proceedings of the 2009 International Conference on Systems, Man, and Cybernetics (SMC), San Antonio, TX, USA (Oct 11–14, 2009) pp. 41134118.
23.Sastry, S. and Bodson, M., Adaptive control: Stability, convergence and robustness (Prentice Hall, New Jersey, 1989).
24.Lu, W.-S. and Meng, M. Q. H., “Regressor formulation of robot dynamics: Computation and applications,” IEEE Trans. Robot. Autom. 9 (3), 323333 (1993).


A hybrid adaptive control approach for robust tracking of robotic manipulators: theory and experiment

  • Shafiqul Islam (a1) and Peter X. Liu (a1)


Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed.