Integration of PD and support vector machine for semiglobal tracking control of robot manipulators

This paper addresses the high-precision tracking of uncertain robot manipulators with friction effect. A simple integrated proportional-derivative (PD) scheme is proposed where a support vector machine is incorporated to deal with friction. The semiglobal bounded tracking is proved in agreement with Lyapunovpsilas direct method. A major advantage of the proposed framework is that it does not use the modeling information in the controller formulation, and thus permits easy implementation in practice. Simulation results performed on a one degrees-of-freedom (DOF) robot demonstrate the expected better performance of the proposed approach.