A robust adaptive control for robotic manipulator with input torque uncertainty

Abstract

This paper examines the problem of link position tracking control for robot manipulators with input toque uncertainty. It is assumed that the input torque uncertainty can be regarded as dead-zone effects at each link of manipulator and all the system parameters for dead-zone model and robot are unknown. The proposed method ensures that the unknown parameters are estimated adaptively, besides, an approximated errors of dead-zone model and external disturbances are attenuated by means of H1 control performance. In spite of considering the nonlinear adaptive H1 control problems, the compensator can design without solving the Hamilton-Jacobi-Isaacs equation. Simulation and experimental results are given to illustrate the effectiveness of our proposed method.