An adaptive robust tracking control for robot manipulator

Yaonan Wang; Jinzhu Peng

doi:10.1117/12.784149

7 January 2008 An adaptive robust tracking control for robot manipulator

Yaonan Wang, Jinzhu Peng

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 679409 (2008) https://doi.org/10.1117/12.784149
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

In this paper, the problem of an adaptive tracking robust control for robot manipulator is studied. The proposed controller always guarantees closed-loop stability, and the stability of the proposed controller is proven by Lyapunov method. The proposed controller can easily be implemented, and the tracking error and adaptation parameter error are uniformly ultimately bounded. Finally, a simulation illustrates the performance of the scheme.

Citation Download Citation

Yaonan Wang and Jinzhu Peng "An adaptive robust tracking control for robot manipulator", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679409 (7 January 2008); https://doi.org/10.1117/12.784149

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