Model-based approach with adaptive bounds of robust controllers for robot manipulators

This paper presents a dynamic compensation methodology for the robust trajectory tracking control of uncertain robot manipulators. To improve the tracking performance of the system, a full model-based feedforward compensation with continuous VS-type robust control is developed in this paper. Since possible bounds of uncertainties are unknown, the adaptive bounds of the robust control is used to estimate the uncertainty bounds. The stability and robustness issues of the proposed control algorithm are investigated via the Lyapunov method. The control algorithm presented guarantees that all system responses are uniformly and ultimately bounded. Thus, it is shown that the control system is evaluated to be highly robust with respect to significant uncertainties