Robust adaptive tracking control of robotic systems with uncertainties

被引：0

作者：

Wang Y. ^{[1
]}

Peng J. ^{[1
,2
]}

Sun W. ^{[1
]}

Yu H. ^{[1
]}

Zhang H. ^{[1
]}

机构：

[1] College of Electrical and Information Engineering, Hunan University, Changsha

[2] School of Electrical Engineering, Zhengzhou University, Zhengzhou

来源：

Journal of Control Theory and Applications | 2008年 / 6卷 / 3期

基金：

中国国家自然科学基金;

关键词：

Adaptive control; Lyapunov stability; Robotic tracking control; Robust control;

D O I：

10.1007/s11768-008-6147-6

中图分类号：

学科分类号：

摘要：

To deal with the uncertainty factors of robotic systems, a robust adaptive tracking controller is proposed. The knowledge of the uncertainty factors is assumed to be unidentified; the proposed controller can guarantee robustness to parametric and dynamics uncertainties and can also reject any bounded, immeasurable disturbances entering the system. The stability of the proposed controller is proven by the Lyapunov method. The proposed controller can easily be implemented and the stability of the closed system can be ensured; the tracking error and adaptation parameter error are uniformly ultimately bounded (UUB). Finally, some simulation examples are utilized to illustrate the control performance. © 2008 Editorial Board of Control Theory and Applications, South China University of Technology and Springer-Verlag GmbH.

引用

页码：281 / 286

页数：5

共 13 条

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[12]

Kim M.S., Shin J.H., Hong S.G., Et al., Designing a robust adaptive dynamic controller for nonholonomic mobile robots under modelling uncertainty and disturbances[J], Mechatronics, 13, pp. 507-519, (2003)

[13]

Lewis F.L., Jagannathan S., Yesildirek A., Neural Network Control of Robot Manipulators and Nonlinear Systems[M], (2002)

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