Dynamics Modeling and Tracking Control of Robot Manipulators in Random Vibration Environment

In this technical brief, the problem of modeling and tracking control for the manipulator with multi-revolute joints in random vibration environment is considered. By analyzing the effect of environment to the mass points and introducing an equivalent stochastic noise process, a stochastic Hamiltonian dynamic model is constructed to describe the motion of the manipulator. Based on the constructed model, a state feedback backstepping controller in vector form is designed such that the unique solution of the closed-loop system is bounded in probability, and the mean square of the tracking error converges to an arbitrarily small neighborhood of zero.