Immersion and invariance adaptive tracking control for robot manipulators with a novel modified scaling factor design

The robot manipulators' tracking control problem in the presence of inertia uncertainties is addressed in this paper, and a novel dynamic scaling–based immersion and invariance (I&I) adaptive tracking controller is utilized to stabilize the proposed system. By virtue of the reconstruction method of the parameter regression matrix, this paper provides a new perspective on how to overcome the integrability obstacle typically arising in the I&I controller design through dynamic scaling and presents a new controller design method. What is more, a novel modified scaling factor is proposed as well so that the controller can be implemented without the prior knowledge of the inertia matrix's lower bound, and only the saturation function involving the scaling factor is included in the feedback gains. Finally, the numerical simulations show the validity of the proposed controller.