Modelling and adaptive tracking control for flexible joint robots with random noises

Abstract

This paper investigates modelling and adaptive tracking control problems for flexible joint robots subjected to random disturbances. A stochastic flexible joint robot model is given by introducing random noises reasonably. Under some weaker assumptions, a new controller is constructed by exploiting adaptive dynamic surface control technique. It is proved that the mean square of the tracking error can be made arbitrarily small by choosing appropriate design parameters. A mechanics model is provided in the simulation to show the effectiveness of the presented theory.