Departmental Papers (ESE)


This paper presents a new model-based adaptive controller and proof of its global asymptotic stability with respect to the standard rigid-body model of robot-arm dynamics. Experimental data from a study of one new and several established globally asymptotically stable adaptive controllers on two very different robot arms 1) demonstrate the superior tracking performance afforded by the model-based algorithms over conventional PD control, 2) demonstrate and compare the superior performance of adaptive model-based algorithms over their nonadaptive counterparts, 3) reconcile several previous contrasting empirical studies, and 4) examine contexts that compromise their advantage.

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version

February 1993


Copyright 1993 IEEE. Reprinted from IEEE Transactions on Robotics and Automation, Volume 9, Issue 1, February 1993, pages 59-70.

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NOTE: At the time of publication, Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.



Date Posted: 13 March 2008

This document has been peer reviewed.