STOCHASTIC MODELING AND TRACKING CONTROL FOR A TWO-LINK PLANAR RIGID ROBOT MANIPULATOR

摘要

In this paper, the problem of stochastic modeling and tracking control of a two-link planar rigid robot manipulator is considered. A stochastic Lagrangian model is constructed to describe the motion of the manipulator in random vibration environment. Based on the constructed model, a state feedback controller is designed such that the error system is 4-th moment exponentially practically stable. The simulation result demonstrates the efficiency of the proposed scheme.