Robust Adaptive Tracking Control of a Class of Robot Manipulators with Model Uncertainties. (8th July 2012)

• Record Type: Journal Article
• Authors: Solís-Perales, G.; Peón-Escalante, R.
• Other Names: Rachid Ahmed Academic Editor.
• Is Part Of: Modelling and simulation in engineering. Volume 2012(2012)
• Publication Date: 2012-07-08
• Subjects: Engineering -- Simulation methods -- Periodicals; Engineering -- Mathematical models -- Periodicals; 620.004
• DOI: 10.1155/2012/271705
• Languages: English
• ISSNs: 1687-5591

Abstract

Abstract : A robust tracking controller for robot manipulators measuring only the angular positions and considering model uncertainties is presented. It is considered that the model is uncertain; that is, the system parameters, nonlinear terms, external perturbations, and the friction effects in each robot joint are considered unknown. The controller is composed by two parts, a linearizing-like control feedback and a high-gain estimator. The main idea is to lump the uncertain terms into a new state which represents the dynamics of the uncertainties. This new state is then estimated in order to be compensated. In this way the resulting controller is robust. A numerical example for a RR robot manipulator is provided, in order to corroborate the results.