The design of a tracking deterministic controller for an uncertain time-varying robotic system is considered. Two approaches are used to design the controller and the results are compared. The first method considered is variable structure control for the design of an adaptive controller which forces the error between the specified model and the plant states to zero. The closed-loop system is insensitive to a wide range of system parameter variations. The second method is the Lyapunov control approach to give ultimate boundedness of the closed loop system error trajectories. In both approaches continuous control laws have been used. For a typical robot arm the robot tracks the specified positional trajectory very closely. This indicates the robustness and effectivness of these two techniques.
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