Adaptive Tracking Control for Uncertain Robot Manipulator with Additive Disturbance

Author

Bin, Xian

Author_Institution

Tianjin Univ., Tianjin

fYear

2007

Firstpage

332

Lastpage

336

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CHICC.2006.4347127

Filename

4347127