ROBUST ADAPTIVE CONTROL FOR ROBOT MANIPULATORS VVITH UNMODELLED DYNAMICS

摘要

In this paper, a robust abaptive control scheme for mechanical maniprlators is presented. The design basically consists, on the one hand, on the one hand, of an adaptive controller that implements a feedback linearization control law which con-pensates the mobeled bynamics, and, on the other hand, of an abaptive sliding-mobe control law that overcomes the unmodelled dynamics and mose. It is also proved that the resulting closed-loop system is stable and that the trajectory tracking control objective is asymptotically achieved. Finally, some simulation results are also provided to evaluate the design.