Robust adaptive trajectory tracking independent of models for robotic manipulators

Author

Chen, Qijun ; Chen, Huitang ; Wang, Yuejuan ; Woo, Peng-Yung

Author_Institution

Dept. of Inf. & Control Eng., Tongji Univ., Shanghai, China

Volume

2

fYear

2001

fDate

2001

Firstpage

787

Abstract

The paper proposes a novel robust adaptive trajectory control scheme for robotic trajectory tracking under uncertainties. The control scheme is globally exponentially convergent without knowledge of robotic dynamics and simple in structure with a small computation. It can make trajectory errors convergent to an arbitrary small region. The Lyapunov approach is used to analyze the stability and robustness of this control scheme. Experiments on a two-link direct-drive robotic manipulator verify the validity of the proposed control scheme

Keywords

Lyapunov methods; adaptive control; manipulators; position control; robust control; uncertain systems; Lyapunov approach; exponentially convergent control scheme; robotic dynamics; robotic manipulators; robotic trajectory tracking; robust adaptive trajectory tracking; robustness; trajectory errors; two-link direct-drive robotic manipulator; Adaptive control; Manipulators; Programmable control; Robot control; Robust control; Robust stability; Robustness; Stability analysis; Trajectory; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.945811

Filename

945811