ROBUST ADAPTIVE CONTROL FOR ROBOT MANIPULATORS WITH UNMODELLED DYNAMICS

Abstract

In this paper, a robust adaptive control scheme for mechanical manipulators is presented. The design basically consists, on the one hand, of an adaptive controller that implements a feedback linearization control law which compensates the modeled dynamics, and, on the other hand, of an adaptive sliding-mode control law that overcomes the unmodelled dynamics and noise. It is also proved that the resulting closed-loop system is stable and that the trajectory tracking control objective is asymptotically achieved. Finally, some simulation results are also provided to evaluate the design.