Design of adaptive compensators for the control of robot manipulators robust to unknown structured and unstructured parameters

摘要

In this paper, a new adaptive-robust control approach forrobot manipulators is developed. The adaptive-robust control law isnot only robust to unknown structured parameters but also robust tounknown unstructured parameters such as unstructured joint frictionand disturbances. The bounded disturbances and unstructured model aretaken into account in a dynamic model and it is assumed that thestructured and unstructured parameters are unknown. The structuredand unstructured parameters are distinguished between parameters andthese parameters are treated separately. Next, new parameterestimation functions are developed for each of the 2 uncertaintygroups. After that, the developed dynamic adaptive compensators forthe unknown structured and unknown unstructured parameters arecombined and the control law is formulated by the combination of thecompensators, including the proportional-derivative feedforwardcontrol. Based on the Lyapunov theory, the uniform ultimateboundedness of the tracking error is obtained.