Hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators

摘要

In this paper a hybrid adaptive/robust control scheme is proposed for rigid-link electrically-driven robot manipulators in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. In contrast to the known methods, the presented design requires at most the joint velocity feedback and does not rely on the knowledge of the bounds of complexity functions. Semi-global asymptotic stability of the adaptive/robust controller is established in the Lyapunov sense. Simulation results are included to demonstrate the tracking performance.