Adaptive tracking control for robot manipulator

摘要

In this study, an adaptive control system is proposed for the tracking control of an n-link robot manipulator to achieve high-precision position control. The presentation of the adaptive control system is divided into three parts: a feedforward controller, a state feedback controller and an uncertainty alleviator. All on-line tuning algorithms in the adaptive control system are derived in the sense of Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system whether the uncertainties occur. It has learning ability similar to intelligent control, but with a simpler control framework. Computer simulations of a three-link SCARA robot manipulator verify the validity of the proposed control strategy in the possible presence of uncertainties. The merits of the proposed control scheme are that not only can the stability of the controlled system be guaranteed, but also no constrained conditions and prior knowledge of the controlled plant are required in the design process.