Robust control of robot manipulators with parametric uncertainty

Abstract

This paper proposes a robust control law for n-link robot manipulators with parametric uncertainty whose upper bound is not assumed to be known. The proposed robust control based on the Corless-Leitmann approach includes a simple estimation law for the upper bound on the parametric uncertainty and an additional control input to be updated as a function of the estimated value. Using the Lyapunov stability theory, the uniform ultimate boundedness of the tracking error is proved.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>