Two-DOF manipulator trajectory tracking control based on unfalsified control

The variable step-size gradient unfalsified control algorithm is given to overcome the defects which exist in the common gradient unfalsified control algorithm. The selection of the step-size is based on inexact one-dimensional search technique. This control algorithm has two advantages: one is small computational amount and the other is that the satisfactory step-size can be achieved at each iteration. This control algorithm was applied to the Two-DOF manipulator trajectory tracking control system and the trajectory tracking controller is designed. The simulation results show that the proposed algorithm possesses fast convergence and accurate tracking control of manipulator is achieved by selecting the control parameters.