Composite Rise Adaptive Control on Robot Manipulator ( 2 link)

 

Check Github Repo for Full report and Code

Simulation 2: Composite adaptive controller with RISE component

 We see that with the addition of a Rise component, error performance increases noticeably, however, there is not much of a difference should there be no Rise component for the composite adaptive controller

Simulation 3: adaptive controller with CL and ICL update law

Here, CL: Concurrent learning, ICL: Integral Concurrent Learning

CL

 

ICL

Simulation 4: RISE based modular adaptive controller

 We design a modular adaptive controller with an additional Rise component. However, we notice that improper tuning in the following controller leads to poor error performance

Modular adaptive controller