Dynamic surface control for a class of manipulator with uncertainties

In this paper, a new method for the robust control of n-link rigid manipulator with model and disturbance uncertainties is proposed. The proposed control system is that the uncertainty of manipulator is approximated using an adaptive fuzzy system, and a dynamic surface control (DSC) method is used to design the system controller. The weight adaptive laws of adaptive fuzzy system are derived from Lyapunov stability analysis, and the global uniform ultimate boundedness (GUUB) stability with exponential convergence is proved. Finally, simulation results for a two-link manipulator are utilized to validate the good position tracking performance and robustness against payload uncertainties and external disturbances of the control system.