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The paper proposes a theorem to assert the arbitrarily good robustness of the fully actuated mechanical system controlled by the adaptive feedback linearization controller. The fully actuated system to be controlled is considerately perturbed by input disturbances and contains constant uncertain parameters in its Euler-Lagrange forced model. It is shown in this paper that independent of input disturbances the adaptive feedback linearization controller with appropriately chosen parameters will drive the output of controlled systems to the desired trajectory for any arbitrary precision. The adaptive controller is applied to the two-link planar elbow arm robot with unknown  mass of the end-effector of second link and input torque noises caused by the viscous friction forces and Coulomb friction terms. Simulation results show that the arbitrary precision of the tracking errors always are guaranteed.

ABOUT THE ROBUSTNESS OF ADAPTIVE FEEDBACK LINEARIZATION CONTROLLER FOR INPUT PERTURBED UNCERTAIN FULLY-ACTUATED SYSTEMS