ROBUST ADAPTIVE CONTROL FOR ROBOT MANIPULATORS WITH UNMODELLED DYNAMICS
Since robotic manipulators are inherently nonlinear systems with time-varying inertial and gravitational loads, the adaptive controllers have been proposed to achieve the suitable performance in the presence of configurations and payload variations. But the adaptive control systems may have robustness problems under no ideal conditions such as unmodeled dynamics and noise. To avoid this difficulty, the authors present here an adaptive control scheme which consists of a feedback linearization law for the modeled dynamics of the robot, together with robust sliding control with an adaptive sliding gain. Thus, prior knowledge for the unmodeled dynamics and noise bounds is no longer necessary. The stability of the control scheme and the elimination of the tracking error are proven by means of the Lyapunov technique. Simulation results show that the proposed control scheme may be useful in practice.
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