Robust adaptive tracking control of a class of robot manipulators with model uncertainties

Authors:
G. Solís-Perales;R. Peón-Escalante
Affiliations:
Departamento de Electrónica, CUCEI Universidad de Guadalajara, Guadalajara, JAL, Mexico;Facultad de Ingeniería, Universidad Autónoma de Yucatán, Mérida, Yucatán, Mexico
Venue:
Modelling and Simulation in Engineering
Year:
2012

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Abstract

A robust tracking controller for robot manipulators measuring only the angular positions and considering model uncertainties is presented. It is considered that the model is uncertain; that is, the system parameters, nonlinear terms, external perturbations, and the friction effects in each robot joint are considered unknown. The controller is composed by two parts, a linearizing-like control feedback and a high-gain estimator. The main idea is to lump the uncertain terms into a new state which represents the dynamics of the uncertainties. This new state is then estimated in order to be compensated. In this way the resulting controller is robust. A numerical example for a RR robot manipulator is provided, in order to corroborate the results.