Robust Adaptive Control for Manipulator System

A robust adaptive controller is proposed in this paper, aiming at nonlinearity, time variance and multi-parameter couple of manipulator driven by motors. In this paper, the manipulator model is changed to be linear uncertain system and a filter with an integrator is designed. The updated laws of ideal current and unknown quantities are derived by the filter, and then the controller of motor is designed with the ideal current to be final control law. Based on the Lyapunov stability theory, this paper analyzes stability of robust adaptive controller and obtains the sufficient conditions of stability. The simulation results show that the system with proper controller parameters has good dynamic characteristic, tracking characteristic and robustness.