An Adaptive Regressor-Free Fourier Series-Based Tracking Controller for Robot Manipulators: Theory and Experimental Evaluation

SUMMARY In this article, we propose a nonlinear Proportional+Derivative (PD) tracking controller with adaptive Fourier series compensation. The proposed controller uses a regressor-free adaptive scheme that relies on a trigonometric polynomial with varying coefficients to solve the control problem. Asymptotic convergence of the position and velocity errors is proven via a formal stability analysis based on Lyapunov and LaSalle theory for...