Adaptive Robust Tracking Control for Robotic Manipulators

Abstract

A novel adaptive robust tracking control scheme is proposed for the robot manipulators with external disturbance and uncertainties. The proposed controller is comprised of a computed torque controller and adaptive robust controller. The computed torque controller is used for the nominal model and adaptive robust controller is employed to compensate the effects of the uncertainties, which can be adjusted by the adaptive law automatically to guarantee the stability and transient performance of the system. Design of control scheme procedure and proof of the stability and convergence are given in the paper. Simulation results show that the proposed control scheme can achieve fast tracking performance and good robustness.