Developing a Robot Control Scheme Robust to Uncertain Model Parameters and Unmodeled Dynamics

Abstract

In robot manipulators, inertia parameters of robot may be not known precisely and some dynamics such as friction torques that are usually difficult to be modelled and may be ignored. In this paper, we present a robust manipulator control approach that includes a feedback-feedforward compensation to compensate for the uncertain parameters and unmodeled dynamics and disturbances. The stability of the overall system is analyzed through Lyapunov direct method. For the proposed approach, global uniform asymptotic stability of the system is established. In addition, we present a continuous control law and guarantee the uniform ultimate boundedness of the tracking error. The simulation results are exhibited to support the theoretical issues