Title :
Adaptive Tracking Control for Uncertain Robot Manipulator with Additive Disturbance
Author_Institution :
Tianjin Univ., Tianjin
Abstract :
In this paper, we present a continuous control mechanism that compensate the parameter linearizable uncertainty in a 6-link robot manipulator system under both repeating and non-repeating disturbance. The control strategy is based on limited assumption on the system nonlinearities. A semi-global asymptotic tracking result is achieved while all the closed-loop states remain bounded.
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; closed loop systems; continuous systems; control nonlinearities; control system synthesis; manipulator dynamics; multivariable control systems; tracking; uncertain systems; 6-link robot manipulator system; Lyapunov based technique; adaptive tracking control; additive disturbance; asymptotic tracking; closed-loop states; continuous control; control design; nonrepeating disturbance; parameter linearizable uncertainty compensation; system nonlinearity; Adaptive control; Control systems; Error correction; Manipulators; Motion control; Nonlinear control systems; Programmable control; Robot control; Robotics and automation; Uncertainty; Adaptive; Disturbance; Robot Manipulator; Tracking Control; Uncertain;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347127
