Adaptive Robust Control of Robotic Systems Under Environment Constraint

摘要

In order to control robot manipulators in high speed and high precision, it is necessary to know the dynamic models of manipulators exactly. However, it is not so easy to identify precisely all the physical parameters of robot manipulators practically. In this paper, on the assumption that the exact model of manipulators is never known and only the estimated models obtained with some errors, a new adaptive robust control schemes are proposed to achieve specified tracking precision. The scheme is derived based on Lyapunov stability theory. The proposed control law does not need to know the physical parameter error bound a prior. It makes an on-line estimation for the feedback gain. Comparing with adaptive control scheme, in which all the physical parameters are on-line estimated, the adaptive robust control is robust to unexpected disturbance. The effectiveness is verified by experiments.