computer-based regressor-free adaptive control versus direct adaptive fuzzy control of the robotic system

A comprehensive comparison between regressor-free control and direct adaptive fuzzy control of flexible-joint robots is addressed in this paper. in the proposed regressor-free controller, two critical practical situations are considered: the fact that robot actuators have limited voltages, and limitation on the number of measurement devices. however, in the article &decentralized direct adaptive fuzzy control for flexible-joint robots,& these limitations have been neglected. it should be noted that a few solutions for the voltage-bounded robust tracking control of flexible joint robots have been proposed. in this paper; we contribute to this subject by presenting a new form of voltage-based controllers. the closed-loop control system stability is proved, and uniformly boundedness of the joint position errors is guaranteed. as a second contribution of this paper, we present a robust adaptive control scheme without the need for computation of the regressor matrix with the same result on the closed-loop system stability. experimental results of the proposed controller and the decentralized direct adaptive fuzzy controller are produced using matlab/simulink external mode control on a single-link flexible-joint electrically driven robot. experimental and analytical results demonstrate the high performance of the proposed control scheme.