Model Free Adaptive Control for Robotic Manipulator Trajectory Tracking

摘要

This paper considers the problem of trajectory tracking of robotic manipulator system by using model free adaptive control (MFAC). The dynamic linearization technique is first introduced, and then the controller can be designed only by I/O data of the robotic manipulator system via MFAC approach, not includes any explicit model information. With some given conditions for controller parameters, the stability of MFAC for robotic manipulator system can be given. It is shown that the tracking error of robotic manipulator can converge to zero and the better tracking performance can be obtained. Simulation result for two-link robot manipulator further given to valid the effective of the proposed method.